Numeričko modeliranje dinamike sustava velikog broja čestica u međusobnom kontaktu na primjeru svemirskog rovera

master's thesis

• Title (english): Numerical modeling of system-particles contact dynamics by using space-rover test case
• Author: Margareta Horvat
• Mentor: Dario Zlatar (mentor)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; Zagreb
• Defense date and country: 2024-03-28, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Mechanical Engineering

Abstract

U diplomskom radu opisan je programski paket Project Chrono koji se koristio pri izradi računalnog modela odabranog rovera te je opisan Curiosity rover na temelju kojega je u zadnjem poglavlju izrađena numerička simulacija. Rezultati simulacije uspoređeni su s eksperimentalnim rezultatima dobivenim mjerenjem na stvarnom roveru. U sljedećem poglavlju opisane su osnovne značajke sustave ovjesa koje današnji svemirski roveri koriste te je detaljno opisan najzastupljeniji mehanizam Rocker-bogie. Provedena je statička analiza kako bi bolje shvatili što je sve potrebno za izradu jednog takvog mehanizma te su opisane prednosti i mane njegova korištenja. Također, ovaj rad obuhvaća analizu dinamike čestica i dinamiku krutih tijela te su opisani modeli kontaktne dinamike, odnosno formulacije metode diskretnih elemenata temeljenim na glatkom kontaktu, diferencijalna varijacijska nejednakost te kontaktni model tla.

Abstract (english)

The thesis describes the Project Chrono software package used in the development of a computer model of a selected rover. Additionally, it provides an overview of the Curiosity rover, based on which a numerical simulation was created in the final chapter. The simulation results were compared with experimental data obtained from measurements on the actual rover. The following chapter describes the basic features of suspension systems used in today's space rovers, with detailed insights into the most prevalent mechanism, the Rocker-bogie. A static analysis was conducted to better understand the requirements for constructing such a mechanism, including its advantages and disadvantages. Furthermore, the thesis encompasses an analysis of particle dynamics and rigid body dynamics, with descriptions of contact dynamics models, formulations of the discrete element method based on smooth contact, differential variational inequalities and soil contact model.

• Keywords: Project Chrono; Curiosity; Rocker-bogie mehanizam; dinamika čestica; dinamika krutih tijela; modeli kontaktne dinamike; metoda diskretnih elemenata; diferencijalna varijacijska nejednakost; kontaktni model tla; numerička simulacija
• Keywords (english): Project Chrono; Curiosity; Rocker-bogie mechanism; particle dynamics; rigid body dynamics; contact dynamics models; discrete element method; differential variational inequalities; soil contact model numerical simulation
• Language: croatian
• URN:NBN: urn:nbn:hr:235:231147
• Study programme: Title: Mechanical Engineering; Study programme type: university; Study level: graduate; Academic / professional title: magistar/magistra inženjer/inženjerka strojarstva (magistar/magistra inženjer/inženjerka strojarstva)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Open access
• Created on: 2024-04-01 08:58:34