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DEM Analysis and Evaluation of Hopping Motion on a Sandy Surface in Microgravity Kobashi, Keita 60612520 Nagaoka, Kenji 永岡, 健司 ナガオカ, ケンジ Yoshida, Kazuya Copyright (c) 2021 The Japan Society for Aeronautical and Space Sciences 501 Asteroid Exploration Sandy Surface Hopping Robot DEM Parametric Analysis Hopping mobility is effective for exploration robots present on small celestial bodies including asteroids and comets and their surfaces are covered in certain places with granular materials such as fine grain sand. However, existing studies do not address hopping mobility on the aforementioned types of granular materials in detail. Therefore, it is necessary to analyze hopping motion on sandy surface for future missions. This study presents a parametric analysis of the hopping motion on granular materials based on a discrete element method (DEM) simulation. In particular, the DEM allows for the numerical simulation of the dynamic behaviors of numerous fine particles. The DEM defines a sand particle as a simple sphere and computes mechanical interaction between each particle which follows some simple laws of dynamics. To analyze the hopping motion, we focus on two characteristics of the hopping motion: the initial hop velocity and hop angle of the robot. In DEM simulations, we change the friction and rolling friction coefficient of the sand particles, the acceleration of gravity and the angular velocity of the robot. We perform a simplified analysis and assume that the terrain surface in DEM simulation is smooth and flat and that the robot exhibits a cubic shape. Based on the research results, we qualitatively evaluate the exploration robot's motion on a sandy surface by DEM analysis when compared with its motion on a rigid surface. International Symposium on Space Technology and Science (32nd ISTS), June 15-21, 2019, Fukui, Japan 日本航空宇宙学会 2021-09-04 eng journal article VoR http://hdl.handle.net/10228/00008451 https://kyutech.repo.nii.ac.jp/records/7247 https://doi.org/10.2322/tastj.19.639 1884-0485 Transactions of the Japan Society for Aeronautical and Space Sciences, Aerospace Technology Japan 19 5 639 646 https://kyutech.repo.nii.ac.jp/record/7247/files/sociorobo_18.pdf application/pdf 1.4 MB 2021-09-07