Exomars Rover Mechanical Modeling with Siconos

Jan Michalczyk 1 Maurice Brémond 2 Vincent Acary 1 Roger Pissard-Gibollet 2
1 BIPOP - Modelling, Simulation, Control and Optimization of Non-Smooth Dynamical Systems
Inria Grenoble - Rhône-Alpes, LJK - Laboratoire Jean Kuntzmann, INPG - Institut National Polytechnique de Grenoble
Abstract : This document contains specification and documentation of the tests performed on the exomars planetary rover model using Siconos software. Siconos is an open source scientific software targeted at modeling and simulating nonsmooth dynamical systems. The advantage of using Siconos for mechanical simulations is that it offers efficient friction-contact nonsmooth models. Performing mechanical simulations of the exomars rover appears to be of great importance with respect to verifying its design and estimating energy consumption. Seven different scenarios have been defined in order to simulate the mechanical behaviour of the exomars rover. Dynamics and kinematics models of the exomars rover have been created using HuMAnS software and implemented inside Siconos using its C code generator as plugin functions. The intention of this report is to create a common reference and unification of mechanical tests of the exomars rover across different simulation platforms.
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Jan Michalczyk, Maurice Brémond, Vincent Acary, Roger Pissard-Gibollet. Exomars Rover Mechanical Modeling with Siconos. [Technical Report] RT-0448, INRIA. 2014, pp.41. 〈hal-01025785〉

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