Conceptual design and analysis of legged landers with orientation capability

Lin, Rongfu; Guo, Weizhong; Zhao, Changjie; He, Mian

doi:10.1016/j.cja.2022.08.001

Cited by 1 publication

(4 citation statements)

References 18 publications

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“…1 landing gear. 3 No. 3 measure option: the crush length of each Al-honeycomb in the secondary strut (right) in the No.…”

Section: Program Flowmentioning

confidence: 99%

“…Different types of exploration equipment will be landing in the lunar polar region, which has complex lunar surface morphology and discrete lunar soil-bearing capacity characteristics [2]. Many types of modular landers with different masses, volumes, configurations, and sizes will be needed in the new-generation extraterrestrial exploration, such as landers with orientation capability [3], multifunctional landers with soft landing and locomotion [4][5][6], etc. The soft-landing dynamic theoretical model is an important method to evaluate the soft-landing performance of landers and optimize the design and arrangement of structures [7,8].…”

Section: Introductionmentioning

confidence: 99%

“…The dynamic response of the lunar soil during landings, such as the penetration depth of the footpad and the soil's vertical and horizontal loadbearing capacity, are critical parameters in determining the stable position and angle of the lander after landing. There are three kinds of contact force models that have been derived: (1) the added mass model [19]; (2) the load model based on the Bekker theory [20], which defines contact force F as a function of the indentation depth δ: F = K × δ n , where K represents the stiffness parameter, and the exponent n depends on the topological properties of the contacting surfaces; (3) the simplified dynamic bearing model in the form of the function on the force versus depth and velocity [18]. Moreover, many studies of fixed-shape (non-locomoting) objects impacting and penetrating dry granular media have revealed reaction forces that can be described by F = F p (z) + αv 2 (1)…”

Section: Introductionmentioning

confidence: 99%

“…2 measure option: the crush length of each Al-honeycomb in the secondary strut (left) in the No. 1 landing gear 3. No.…”

mentioning

confidence: 99%

See 3 more Smart Citations

3D Soft-Landing Dynamic Theoretical Model of Legged Lander: Modeling and Analysis

Wang,

Chen,

Chen

et al. 2023

Aerospace

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In this paper, a novel 3D (three-dimensional) soft-landing dynamic theoretical model of a legged lander is developed in detail as well as its numerical solution process. The six degrees of freedom motion (6-DOF) of the base model of the lander with mass center offset setting is considered in the model as well as the spatial motion (3-DOF) of each landing gear. The characteristics of the buffering force, the footpad–ground contact, and the inter-structure friction are also taken into account during the motion of each landing gear. The direct constraint violation correction is used to control the constraint stabilization of the nonlinear dynamic equation. Comparative studies between the results from the proposed model and the simulated model (built in MSC Adams) under four classical load cases show the validity of the model. Additionally, the influences of different types of contact force models, friction force models, and a friction correction model used in the soft-landing dynamic model are further investigated as a step toward understanding the soft-landing dynamic performance and the feasibility of the dynamic model method of a legged lander. The results indicate that a precise lateral force model of the footpad–ground contact is necessary to obtain the soft-landing performance of one lander during soft landing.

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“…1 landing gear. 3 No. 3 measure option: the crush length of each Al-honeycomb in the secondary strut (right) in the No.…”

Section: Program Flowmentioning

confidence: 99%