Three-dimensional MFBD-DEM coupling simulation of flexible wire mesh wheel–soil over lunar rough terrain

Abstract

This paper proposes a comprehensive approach to studying the interaction between wire mesh wheels and rough lunar terrain to enhance the maneuverability and traction of lunar rovers. The study involves the creation of a 3D discrete element model (DEM model) that closely mimics the morphology of actual lunar soil grains. In addition, a multi-flexible-body dynamics model of a wire mesh wheel is developed and experimentally validated for stiffness. To evaluate the maneuverability of the wheel, a virtual soil bin experiment system is created, using fractal theory and DEM methodology to model wheel behavior on rough lunar terrain. The simulation tests wheel mobility in various motion states and terrain conditions. Results demonstrate that the proposed model is an effective tool for studying the interaction between elastic lunar wheels and lunar terrain.