月球探测器软着陆机构展开过程的运动学分析  

Kinematic Analysis of Soft-landing Mechanism for a Lunar Probe in the Deployment Process

作　　者：黄传平[1] 刘志全[1] 

机构地区：[1]中国空间技术研究院,北京100094

出　　处：《中国空间科学技术》2007年第2期10-16,共7页Chinese Space Science and Technology

摘　　要：软着陆机构是月球探测器实现软着陆的关键部件。针对一种四腿式软着陆机构方案,论述了该软着陆机构展开的工作原理,分析了机构的奇异性,推导了机构不发生奇异的条件,建立了展开机构的运动学方程组,采用Newton-Raphson法求解了该非线性运动学方程组,获得了主支撑杆运动参数的变化规律。Soft-landing mechanism is the key device for a lunar probe. The deployment principle of a ＂four-leg＂ soft-landing mechanism was analyzed . Singularity of the mechanism was discussed. Constraint conditions of the mechanism without singularity were given. Kinematic equation groups for the deployment mechanism were founded. Kinematic parameters and the variation were obtained by solving non-linear kinematic equation groups with Newton-Raphson method.

关 键 词：软着陆机构 展开 运动学 月球探测器 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]