月球探测器软着陆机构展开动力学仿真分析

可展开的软着陆机构是月球探测器的重要组成部分。以带间隙的多体系统动力学理论 为基础，针对一型采用四支撑悬臂式软着陆机构的月球探测器在ADAMS中建立了虚拟样机模 型，分别就主着陆腿系统结构柔性，主着陆腿与基体连接间隙，展开驱动力及探测器自旋等 因素对软着陆机构展开过程的影响进行了仿真分析。结果表明，在机构展开锁定瞬间由于结 构柔性会产生难以衰减的振动，而间隙在一定程度上有利于该振动衰减。展开驱动力越大， 展开越快，锁定激振振幅越大，但由展开进入稳定状态所需总时间可更短。探测器自旋则有 助于机构的展开，但自旋速度较高时对结构振动有明显影响。该结果可为软着陆机构展开方 案的设计提供帮助。

Simulation Analysis of the Deploying Process of Deployable Landing Gear Based on ADAMS

Deployable landing gear is an important part of Lunar lander.The ADAMS model of a Lunar lander with four strut groups was built in this paper.The effects of the flexibility of primary strut,joint clearance,deploying driver force and the spin of mainbody on the dynamic character of landing gear during deploying were analyzed.The simulation results show that the vibration excitated on the lock instantaneousness is difficult to be attenuated because of the flexibility of primary strut.And joint clearance is he...