腿式小行星探测器附着稳定性分析

Analysis on adhesion stability of legged-type asteroid detector

在以小行星为目标的深空探测活动中,探测器承担了附着及采样探测的重要任务。文中以附着为研究目标,首先建立腿式小行星探测器在星体表面附着的多刚体动力学模型。考虑小行星星表环境特点,提出3项表征探测器附着性能的评价指标,基于多体动力学仿真模型对典型1-2模式下的附着性能进行分析,验证其附着性能。采用全因子试验设计方法选取地形及速度参数的样本点,代入至多刚体动力学模型进行计算,基于动力学仿真结果,建立了不同地形及速度参数同附着性能评价指标之间的代理模型,并利用代理模型对探测器的各项附着性能的稳定边界、综合稳定边界及变化趋势进行研究分析。

In the deep space-exploration activities targeted at asteroids,the detector undertakes important tasks of adhesion and sampling detection.In this article,the multi-rigid body dynamic simulation model of the legged-type asteroid detector attached to the star surface is set up.With the environmental characteristics of the star surface into consideration,three evaluation indexes are proposed to characterize the detector’s adhesion stability.Based on the multi-rigid body dynamic simulation model,the adhesion performance under the typical 1-2 mode is explored and verified.The full-factorial experimental design is applied to select sample points of the terrains and velocity parameters,which are introduced into the multi-rigid body dynamic simulation model.Based on the results of dynamic simulation,a surrogate model between different terrains and velocity parameters on one hand and the evaluation indexes of the adhesion performance on the other hand is worked out.The surrogate model is used to analyze the stability boundary of the detector’s adhesion performance,as well as its comprehensive stability boundary and changing trend.