Design and characterization of GRC-1: A soil for lunar terramechanics testing in Earth-ambient conditions

Oravec, Heather A.; Zeng, Xiangwu; Asnani, Vivake M.

doi:10.1016/j.jterra.2010.04.006

Cited by 87 publications

(40 citation statements)

References 6 publications

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“…Previous studies have demonstrated that the application of a Powder Bed Fusion 3D printing process can manufacture structures/components from multi component ceramics that closely simulate Lunar and Martian regolith [12,13]. The need to use simulants is due to the scarcity of actual ET materials on Earth; there is a very small, closely guarded quantity of Lunar material and no samples acquired from Mars [14]. Although the concept of utilising the regolith materials to create 3D objects via 3D Printing has been proven, the investigation and characterisation of these material's properties, and the mechanisms of the interaction with the 3D printing process, have so far not been performed.…”

Section: Introductionmentioning

confidence: 99%

Assessing extraterrestrial regolith material simulants for in-situ resource utilisation based 3D printing

Goulas

Binner

Harris

et al. 2017

Applied Materials Today

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This research paper investigates the suitability of ceramic multicomponent materials, which are found on the Martian and Lunar surfaces, for 3D printing (aka Additive Manufacturing) of solid structures. 3D printing is a promising solution as part of the cutting edge field of future in situ space manufacturing applications. This investigation has shown that -provided that the simulants are good matches for the actual regoliths -the lunar material is a viable candidate material for powder bed fusion 3D printing, whereas Martian regolith is not.

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Section: Introductionmentioning

confidence: 99%

Assessing extraterrestrial regolith material simulants for in-situ resource utilisation based 3D printing

Goulas

Binner

Harris

et al. 2017

Applied Materials Today

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“…4 will be described. The single wheel imaging testbed is prepared with GRC-1 lunar soil simulant [Oravec10] before each test run. The soil is loosened to a state of lowest relative density and slightly compacted by use of a drop tamper method to produce repeatable soil properties.…”

Section: General Experiments Considerations and Proceduresmentioning

confidence: 99%

Motion Analysis System for Robot Traction Device Evaluation and Design

Moreland

Skonieczny

Wettergreen

2013

Springer Tracts in Advanced Robotics

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Though much research has been conducted regarding traction of tires in soft granular terrain, little empirical data exist on the motion of soil particles beneath a tire. A novel experimentation and analysis technique has been developed to enable detailed investigation of robot interactions with granular soil. This technique, the Shear Interface Imaging Analysis method, provides visualization and analysis capability of soil shearing and flow as it is influenced by a wheel or excavation tool. The method places a half-width implement (wheel, excavation bucket, etc.) of symmetrical design in granular soil up against a transparent glass sidewall. During controlled motion of the implement, high-speed images are taken of the sub-surface soil, and are processed via optical flow software. The resulting soil displacement field is of very high fidelity and can be used for various analysis types. Identification of clusters of soil motion, shear interfaces and shearing direction/magnitude allow for analysis of the soil mechanics governing traction. The Shear Interface Imaging Analysis Tool enables analysis of robot-soil interactions in richer detail than possible before. Prior state-of-art technique relied on longexposure images that provided only qualitative insight, while the new processing technique identifies sub-millimeter gradations in motion and can do so even for high frequency changes in motion. Results are presented for various wheel types and locomotion modes: small/large diameter, rigid/compliant rim, grouser implementation, and push-roll locomotion.

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“…This payload and ground pressure is relevant to planetary vehicles, such as the NASA Mars Exploration Rovers. The single wheel imaging test bed was prepared with GRC-1 lunar soil simulant [4] before each test run. The soil is loosened to a state of lowest relative density and slightly compacted by use of a drop tamper method to produce repeatable soil properties.…”

Section: Grousered Wheel Experimentationmentioning

confidence: 99%

Soil behavior of wheels with grousers for planetary rovers

Moreland

Skonieczny

Inotsume

et al. 2012

2012 IEEE Aerospace Conference

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Abstract-The performance of wheels operating in loose granular material for the application of planetary vehicles is well researched but little effort has been made to study the soil shearing which governs traction. Net traction measurements and application of energy metrics have been solely relied upon to investigate performance but lack the ability to evaluate or describe soil-wheel interaction leading to thrust and resistances. The complexity of rim and grouser interaction with the ground has also prevented adequate models from being formulated. This work relies on empirical data gathered in attempt to study the effects of rim surface on soil shearing and ultimately how this governs traction. A novel experimentation and analysis technique was developed to enable investigation of terramechanics fundamentals in great detail. This technique, the Shear Interface Imaging Analysis Tool, is utilized to provide visualization and analysis capability of soil motion at and below the wheel-soil interface. Analysis of the resulting displacement field identifies clusters of soil motion and shear interfaces. Complexities in soil flow patterns greatly affect soil structure below the wheel and the resulting tractive capability. Grouser parameter variations, spacing and height, are studied for a rigid wheel. The results of soil shear interface analysis for wheels with grousers are presented. The processes of thrust and resistances are investigated and behavior characterized for grousered wheels.

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Design and characterization of GRC-1: A soil for lunar terramechanics testing in Earth-ambient conditions

Cited by 87 publications

References 6 publications

Assessing extraterrestrial regolith material simulants for in-situ resource utilisation based 3D printing

Assessing extraterrestrial regolith material simulants for in-situ resource utilisation based 3D printing

Motion Analysis System for Robot Traction Device Evaluation and Design

Soil behavior of wheels with grousers for planetary rovers

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