Discrete Element Method and Multi-Body Dynamics Co-Simulation Framework for Regolith-Tool Interaction Modeling

In this work, a co-simulation framework using commercially available software ADAMS for multi-body dynamics models and EDEM for discrete element models is developed for simulating the mechanical behavior and mechanical motion of regolith-tool interaction. The co-simulation tool is first evaluated and verified using simplified motion systems, where experimental data and/or analytical solutions are available. Sensitivity analysis is conducted to understand the effect of model parameters such as time step ratios on system response. The developed co-simulation framework is then applied to simulate a target lunar regolith-drill system to demonstrate its potential in regolith-tool interaction modeling. This new co-simulation framework will provide a more accurate, two-way coupled model, to predict tool behavior with lunar and Martian regolith for sampling or drilling instruments. In addition, this research will lay the groundwork for modeling more complex systems for planetary exploration missions.