Research on the Lander Stability during Lunar Rover Unloading Base on the Theory of ZMP

Abstract:

The function of the elevator is to help lunar rover arrive lunar surface from the top of Lander after landing. Rocker-arm elevator makes Lander overturn easily because its arm is too long. Different compress extent of the Lander leg, complicated condition of landing location, micro-gravity and unloading acceleration have great influence to the stability of Lander. The paper set the ZMP coordinate equation and the coordinate of support polygon by D-H coordinate law, and builds the rule of the stability. Example simulation result shows that the equation and the rule meet the requirement of Lander stability analysis on all different conditions.

• Periodical: Advanced Materials Research (Volumes 457-458)
• Pages: 1264-1270
• DOI: https://doi.org/10.4028/www.scientific.net/AMR.457-458.1264
• Online since: January 2012
• Authors: Kui Li, Rong Qiang Liu, Zong Quan Deng, Sheng Yuan Jiang
• Keywords: Lunar Lander, Lunar Rover, Stability, ZMP

References

[1] Jim Ruhnke: The Design of a Common Lunar Lander, (NASA report, USA 1991).

[2] Nikola Babic: The Extended Duration Lunar Lander, (NASA report, USA 1993).

[3] Benjamin Donabue and C. Robert Fowler: 29th Joint Propulsion Conference and Exhibit (Monterey, CA, June 28-30, 1993), 6(1993), PP. 19-38.

[4] Zh.Y. OUYANG: Introduction to Lunar Science, (China Astronautic Publishing House. Beijing, China. 2005). (In Chinese).

[5] J. Peng，Zh.Y. Liu and H. Zhang: Spacecraft Engineering. Vol. 17 (2008) No. 1, pp.18-23. (In Chinese).

[6] Li Yan-jie, Zhong Hua: Transactions of Shenyang Ligong University. Vol. 28(2009) No. 1, PP. 79-84. (In Chinese).