小行星着陆装置着陆动力学及着陆性能分析

赵志军; 赵京东; 刘宏

小行星着陆装置着陆动力学及着陆性能分析

哈尔滨工业大学机器人技术与系统国家重点实验室, 哈尔滨 150080

基金项目: 国家自然科学基金资助项目（51105091）；国家863高技术研究发展计划资助项目（2008AA12A214）；国家基础研究发展规划资助项目（973-2013CB733103）

详细信息

中图分类号: V476.4
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出版历程
- 收稿日期: 2013-03-30
- 网络出版日期: 2013-12-30

Development of the landing dynamic and performance of an asteroid landing mechanism

State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150080, China

摘要

摘要: 小行星着陆装置实现着陆器在小行星表面的着陆，其动力学及着陆性能研究对着陆装置研制具有重要意义.基于三腿式小型着陆装置，在对其结构特点及着陆策略分析的基础上，采用Lagrange方程建立了二维着陆动力学模型，模型对着陆及翻转阶段的动力学特性进行了描述，其计算结果与仿真验证较为接近且具有一致的变化趋势.在最大允许倾角为30°的着陆面上，采用仿真分析方法对着陆装置在不同着陆速度及偏航角下的着陆性能进行了统计分析，结果表明着陆装置具有良好的着陆性能.
- 小行星着陆装置 /
- 着陆动力学 /
- Lagrange方程 /
- 过载加速度 /
- 稳定性
Abstract: The asteroid landing mechanism is used to landing on the asteroid. Its landing dynamic and landing performance studies have a grateful guidance to the design of itself. The mechanical characteristics and landing strategy of the small landing mechanism with three legs were analyzed, and then a Lagrange method was introduced to build its two-dimensional landing dynamic model. This model described the dynamic characteristics of the landing mechanism in the landing and turning stages. The analyzing results of this model were validated by simulation. Their results were close and had accordant changing trends. On the most permitted inclined landing slope with 30 degree, the landing performance of the landing mechanism with different landing velocities and yaw angels were simulated in Adams software and analyzed statistically. The results show that the landing mechanism has a reasonable landing performance.
- asteroid landing mechanism /
- landing dynamic /
- Lagrange equation /
- overloading acceleration /
- stability

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参考文献(16)

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