Dynamics analysis of hopping rovers on irregularly-shaped small bodies

Xiangyu Li, Amit Sanyal, Rakesh R. Warier, Dong Qiao

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

A hopping rover that is actuated by internal forces, is an ideal mobility approach for the exploration of small solar system bodies. The internal actuators are used to provide torques to rotate the hopper and the contact force on the surface will drive the hopper to hop from the asteroid. In this paper, the 3-D dynamics model of a hopping rover on an irregular-shaped small body is established based on a polyhedron model. The hopper is modeled as a cube with three reaction wheel actuators along three orthogonal body axes. The hopping dynamics model is developed in the asteroid-fixed frame. Initialization of a hop and determination of sliding behavior on the surface are analyzed. Then the orbital-attitude couple motion after hopping is calculated. Based on a model for the asteroid Bennu, the influence of surface coefficients, friction factors and other factors on hopping motions are discussed. Finally, the possibility of lift off from the surface of small bodies by hopping is studied. The simulations show that smaller surface stiffness coefficient will increase the hopping distance but the sliding will decrease it. Besides, the non-uniform gravity on the irregular-shaped small body will change the hopping direction. The 3-D dynamics model of a hopping rover can be applied to the preliminary analysis of the hopping motion in an irregular-shaped asteroid. which provides a reference for future asteroid surface explorations.

Original languageEnglish (US)
Title of host publicationAAS/AIAA Astrodynamics Specialist Conference, 2018
EditorsRyan M. Weisman, Brandon A. Jones, Puneet Singla, Belinda G. Marchand
PublisherUnivelt Inc.
Pages3687-3702
Number of pages16
ISBN (Print)9780877036579
StatePublished - Jan 1 2018
EventAAS/AIAA Astrodynamics Specialist Conference, 2018 - Montreal, Canada
Duration: Aug 19 2018Aug 23 2018

Publication series

NameAdvances in the Astronautical Sciences
Volume167
ISSN (Print)0065-3438

Conference

ConferenceAAS/AIAA Astrodynamics Specialist Conference, 2018
CountryCanada
CityMontreal
Period8/19/188/23/18

Fingerprint

dynamic analysis
Asteroids
Dynamic analysis
asteroids
asteroid
hoppers
Hoppers
dynamic models
Dynamic models
sliding
Actuators
actuators
reaction wheels
friction factor
Solar system
coefficients
polyhedrons
torque
solar system
stiffness

ASJC Scopus subject areas

  • Aerospace Engineering
  • Space and Planetary Science

Cite this

Li, X., Sanyal, A., Warier, R. R., & Qiao, D. (2018). Dynamics analysis of hopping rovers on irregularly-shaped small bodies. In R. M. Weisman, B. A. Jones, P. Singla, & B. G. Marchand (Eds.), AAS/AIAA Astrodynamics Specialist Conference, 2018 (pp. 3687-3702). (Advances in the Astronautical Sciences; Vol. 167). Univelt Inc..

Dynamics analysis of hopping rovers on irregularly-shaped small bodies. / Li, Xiangyu; Sanyal, Amit; Warier, Rakesh R.; Qiao, Dong.

AAS/AIAA Astrodynamics Specialist Conference, 2018. ed. / Ryan M. Weisman; Brandon A. Jones; Puneet Singla; Belinda G. Marchand. Univelt Inc., 2018. p. 3687-3702 (Advances in the Astronautical Sciences; Vol. 167).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Li, X, Sanyal, A, Warier, RR & Qiao, D 2018, Dynamics analysis of hopping rovers on irregularly-shaped small bodies. in RM Weisman, BA Jones, P Singla & BG Marchand (eds), AAS/AIAA Astrodynamics Specialist Conference, 2018. Advances in the Astronautical Sciences, vol. 167, Univelt Inc., pp. 3687-3702, AAS/AIAA Astrodynamics Specialist Conference, 2018, Montreal, Canada, 8/19/18.
Li X, Sanyal A, Warier RR, Qiao D. Dynamics analysis of hopping rovers on irregularly-shaped small bodies. In Weisman RM, Jones BA, Singla P, Marchand BG, editors, AAS/AIAA Astrodynamics Specialist Conference, 2018. Univelt Inc. 2018. p. 3687-3702. (Advances in the Astronautical Sciences).
Li, Xiangyu ; Sanyal, Amit ; Warier, Rakesh R. ; Qiao, Dong. / Dynamics analysis of hopping rovers on irregularly-shaped small bodies. AAS/AIAA Astrodynamics Specialist Conference, 2018. editor / Ryan M. Weisman ; Brandon A. Jones ; Puneet Singla ; Belinda G. Marchand. Univelt Inc., 2018. pp. 3687-3702 (Advances in the Astronautical Sciences).
@inproceedings{76cbbc209b21440d90f19011beb45fe8,
title = "Dynamics analysis of hopping rovers on irregularly-shaped small bodies",
abstract = "A hopping rover that is actuated by internal forces, is an ideal mobility approach for the exploration of small solar system bodies. The internal actuators are used to provide torques to rotate the hopper and the contact force on the surface will drive the hopper to hop from the asteroid. In this paper, the 3-D dynamics model of a hopping rover on an irregular-shaped small body is established based on a polyhedron model. The hopper is modeled as a cube with three reaction wheel actuators along three orthogonal body axes. The hopping dynamics model is developed in the asteroid-fixed frame. Initialization of a hop and determination of sliding behavior on the surface are analyzed. Then the orbital-attitude couple motion after hopping is calculated. Based on a model for the asteroid Bennu, the influence of surface coefficients, friction factors and other factors on hopping motions are discussed. Finally, the possibility of lift off from the surface of small bodies by hopping is studied. The simulations show that smaller surface stiffness coefficient will increase the hopping distance but the sliding will decrease it. Besides, the non-uniform gravity on the irregular-shaped small body will change the hopping direction. The 3-D dynamics model of a hopping rover can be applied to the preliminary analysis of the hopping motion in an irregular-shaped asteroid. which provides a reference for future asteroid surface explorations.",
author = "Xiangyu Li and Amit Sanyal and Warier, {Rakesh R.} and Dong Qiao",
year = "2018",
month = "1",
day = "1",
language = "English (US)",
isbn = "9780877036579",
series = "Advances in the Astronautical Sciences",
publisher = "Univelt Inc.",
pages = "3687--3702",
editor = "Weisman, {Ryan M.} and Jones, {Brandon A.} and Puneet Singla and Marchand, {Belinda G.}",
booktitle = "AAS/AIAA Astrodynamics Specialist Conference, 2018",
address = "United States",

}

TY - GEN

T1 - Dynamics analysis of hopping rovers on irregularly-shaped small bodies

AU - Li, Xiangyu

AU - Sanyal, Amit

AU - Warier, Rakesh R.

AU - Qiao, Dong

PY - 2018/1/1

Y1 - 2018/1/1

N2 - A hopping rover that is actuated by internal forces, is an ideal mobility approach for the exploration of small solar system bodies. The internal actuators are used to provide torques to rotate the hopper and the contact force on the surface will drive the hopper to hop from the asteroid. In this paper, the 3-D dynamics model of a hopping rover on an irregular-shaped small body is established based on a polyhedron model. The hopper is modeled as a cube with three reaction wheel actuators along three orthogonal body axes. The hopping dynamics model is developed in the asteroid-fixed frame. Initialization of a hop and determination of sliding behavior on the surface are analyzed. Then the orbital-attitude couple motion after hopping is calculated. Based on a model for the asteroid Bennu, the influence of surface coefficients, friction factors and other factors on hopping motions are discussed. Finally, the possibility of lift off from the surface of small bodies by hopping is studied. The simulations show that smaller surface stiffness coefficient will increase the hopping distance but the sliding will decrease it. Besides, the non-uniform gravity on the irregular-shaped small body will change the hopping direction. The 3-D dynamics model of a hopping rover can be applied to the preliminary analysis of the hopping motion in an irregular-shaped asteroid. which provides a reference for future asteroid surface explorations.

AB - A hopping rover that is actuated by internal forces, is an ideal mobility approach for the exploration of small solar system bodies. The internal actuators are used to provide torques to rotate the hopper and the contact force on the surface will drive the hopper to hop from the asteroid. In this paper, the 3-D dynamics model of a hopping rover on an irregular-shaped small body is established based on a polyhedron model. The hopper is modeled as a cube with three reaction wheel actuators along three orthogonal body axes. The hopping dynamics model is developed in the asteroid-fixed frame. Initialization of a hop and determination of sliding behavior on the surface are analyzed. Then the orbital-attitude couple motion after hopping is calculated. Based on a model for the asteroid Bennu, the influence of surface coefficients, friction factors and other factors on hopping motions are discussed. Finally, the possibility of lift off from the surface of small bodies by hopping is studied. The simulations show that smaller surface stiffness coefficient will increase the hopping distance but the sliding will decrease it. Besides, the non-uniform gravity on the irregular-shaped small body will change the hopping direction. The 3-D dynamics model of a hopping rover can be applied to the preliminary analysis of the hopping motion in an irregular-shaped asteroid. which provides a reference for future asteroid surface explorations.

UR - http://www.scopus.com/inward/record.url?scp=85069541493&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85069541493&partnerID=8YFLogxK

M3 - Conference contribution

AN - SCOPUS:85069541493

SN - 9780877036579

T3 - Advances in the Astronautical Sciences

SP - 3687

EP - 3702

BT - AAS/AIAA Astrodynamics Specialist Conference, 2018

A2 - Weisman, Ryan M.

A2 - Jones, Brandon A.

A2 - Singla, Puneet

A2 - Marchand, Belinda G.

PB - Univelt Inc.

ER -