When a lunar rover is being unloaded from the lander by a rocker-style unloading mechanism, the overturning moment acting on the lander may be so large that it can make the whole exploration mission a failure. Therefore it is very important to research on the impact of rover unloading on lander stability. Different compression extents of the lander leg and complicated conditions of the lunar surface and unloading speeds are first defined as parameters and then support polygon coordinates and the positions of the rover can be expressed as the equations of these parameters by the D-H coordinate method, and finally the zero moment point (ZMP) coordinate equation and stability criteria are found. It can be verified that the equation is correct and the influence of every parameter on lander stability and the critical instability speed are found by simulation example analysis. This study can serve as the theoretical basis for the control strategy of rover unloading.
DENG Zongquan, LI Kui, LIU Rongqiang, JIANG Shengyuan
. Influence of Rover Unloading on Lunar Lander Stability[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2011
, 32(12)
: 2318
-2326
.
DOI: CNKI:11-1929/V.20110620.1341.002
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