Chrono::FSI - Mobility Simulation of Moon Viper on Flat Granular Material Terrain with Obstacles
Автор: UW SBEL
Загружено: 2021-02-18
Просмотров: 232
Описание: We use the Smoothed Particle Hydrodynamics (SPH) method to determine the dynamics of granular material in its interaction with the four-wheel Moon Viper rover. The goal of the simulation is to investigate the mobility of the rover while operating on granular terrains. In order to speed up the simulation, we employ a continuum model to capture the dynamics of the deformable terrain. The rover wheel geometry is defined through a mesh. The granular material is modeled as an elasto-plastic continuum that dynamically interacts with the rigid wheels of the rover in a Chrono co-simulation setup. The interaction between each wheel and the granular terrain is handled through so-called Boundary Conditions Enforcing (BCE) particles that are attached to the rover wheel.
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