Dynamics Modeling And Simulation Of Multi-legged Soft Lunar Landing Vehicle

Soft lunar landing is a key technology for domestic 2nd stage scientific stratagem "Soft lunar landing and Auto Surface Survey" of CANG'E project, while pertinent dynamics and simulation will be important approaches for landing vehicle structure design, landing gear design or prototype performance predictions.Dynamic formulating for down-hill planar motion of a three-legged or four-legged soft lunar landing vehicle are conducted, Mathematical modeling for the shock absorber, footpad-soil interaction and impact history are also presented. Based on the soft lunar landing dynamic model, corresponding simulation tool is established in MATLAB/SIMULINK environment, Independent modularity method is broadly used to simplify and manage the software programming.Soft landing dynamics simulation is performed by means of aforementioned software, Sensitivities are analyzed for landing initial condition parameters such as the lunar slope angle, coefficient of friction, pitch angle, vertical and horizontal velocity, vehicle structure parameter such as the radius of gyration, to the landing load factor, stability criteria angle and telescoping length of shock absorbers. Results presented might give a primary guidance for landing site survey, lander structure and landing gear parameter design.