35 Modal Testing of Space Exploration Rover Prototypes 421 Fig. 35.7 Overview of test setup for rover testing Fig. 35.8 Close-up of portable exciter The original plan called for some preliminary runs with only the left side of the rover (i.e. from points 11 to 20 as shown in Fig. 35.6) being monitored. For these runs, the structure was excited with a single shaker attached to the top portion of the front extremity of the battery box; the rover was excited along the lateral Y axis (Frame:12 from Fig. 35.6 in the Y axis). An overview of the test setup is presented in Fig. 35.7. A close-up of the portable exciter with its stinger and force sensor mounted to the side of the battery box is shown in Fig. 35.8. These preliminary runs were performed with the following test parameters: – Frequency bandwidth: 512 Hz – Number of spectral lines: 8,192 – Frequency resolution: 0.0625 Hz – Excitation: Burst random (50 %) – Number of averages: 25 It should be noted that the upper frequency was selected to be as high as 512 Hz simply because the large number of spectral lines available made it possible to still have very good resolution. For future modal testing of rovers, the frequency bandwidth will be reduced considering the large number of modes present even below 100 Hz.
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