A new kind of eight-wheel lunar rover is developed, which is a complex closed-chain system and has good capabilities of climbing slope, surmounting obstacles and adapting to uneven terrain. In this paper, the mechanic...A new kind of eight-wheel lunar rover is developed, which is a complex closed-chain system and has good capabilities of climbing slope, surmounting obstacles and adapting to uneven terrain. In this paper, the mechanical structure of the novel eight-wheel lunar rover is introduced, forward and inverse kinematic models of the rover are established according to the closed-chain coordinate transformation and instantaneous coincidence coordinate. Based on structural characteristics, its kinetic characteristics are analyzed. Wheel slippages are separated and calculated, and a method for closed-loop control modification using wheel slip estimation during the model establishment is proposed. The results can be applied to the motion control of lunar rover.展开更多
In order to save space for storing precision equipments,lower the center of mass of Lander and reduce lunar rover's dimension constraint limited by mechanism of Lander,the locking-releasing mechanism of side-loade...In order to save space for storing precision equipments,lower the center of mass of Lander and reduce lunar rover's dimension constraint limited by mechanism of Lander,the locking-releasing mechanism of side-loaded lunar rover loaded outside Lander is presented,which is a kind of metamorphic mechanism.To ensure the working of this mechanism as the metamorphic process designed,configuration analysis of the locking-releasing mechanism is carried out,and topological structures are described by Huston lower numbered arrays.A kinematic mathematical model of the mechanism is established through homogeneous transformation matrix.The kinematic simulation validates the feasibility of the locking-releasing mechanism when the configurations are shifted from one to the other.展开更多
Facing the requirement of establishing a steering mechanical model for the wheel configuration design,selection of steering motors, dynamic analysis and simulation of the lunar rover, shear force beneaththe steering w...Facing the requirement of establishing a steering mechanical model for the wheel configuration design,selection of steering motors, dynamic analysis and simulation of the lunar rover, shear force beneaththe steering wheel, bulldozing resistance acting on steering wheel rims and side surfaces respectively areconducted on the basis of the wheel-loose soil interaction. The quantitative relation between steering resistancemoment (SRM) and steering radius, dimension of the wheel, soil parameters is established. Tovalidate the model, a single-wheel test bed is employed to test the steering performance of a wheel with0.15735m radius and 0.165m width when the steering radius is 0.00m, 0.04m, 0.08m, 0.12m and0.16m, respectively. The SRM is approached asymptotically with the increasing steering angle and almostproportional to the steering radius. The theoretical results of SRM are compact with the experimental results,which shows that the steering model can predict the experimental results well.展开更多
Based on the magnetic field and plasma data obtained by GEOTAIL in 1992-1995 and WIND in1994-2009, the magnetic field and plasma properties in the magnetotail near lunar orbit were studied statistically using the supe...Based on the magnetic field and plasma data obtained by GEOTAIL in 1992-1995 and WIND in1994-2009, the magnetic field and plasma properties in the magnetotail near lunar orbit were studied statistically using the superposed epoch analysis. The results showed that near the 0° sector the plasma density was negatively correlated with Dst index while the temperature was positively correlated with Dst index. The plasma velocity and magnetic field strength had little correlation with Dst index. Around the current sheet near the lunar orbit, the Bx varied between -15-15 nT, the plasma density was less than 0.4 cm^-3, the median of plasma density for all events was less than 0.1 cm^-3, the temperature varied from 0.016 to 8.98 keV, the median of the plasma temperature for all the events was -3 keV, the median of speed was about 200 km/s and the maximum speed was up to 1500 km/s. The tailward and earthward flows could be observed accompanied with the current sheet. For the current sheet cases with tailward flow, the Bx varied from -15 to 15 nT, the upper quartile of plasma velocity was more than 400 krn/s, the maximum speed was up to 1500 km/s. For the current sheet cases with tailward flow, the Bx varied from -10 to 10 nT, the upper quartile of plasma velocity was less than 400 km/s, the maximum speed was up to 1200 km/s. The median of plasma density, temperature and velocity were similar for the two categories. This paper discussed the relationship between above results and magnetic reconnection at magnetic tail, compared the above results with the observation in the far magnetotail. We fitted the statistical results according to the Harris current sheet model, and the observation was consistent with Harris current sheet model. The above results can provide useful information for the design and protection of lunar-orbiting spacecraft and can be used as the background magnetic field and plasma parameters in the numerical simulation of mid-magnetotail reconnection.展开更多
The lunar probe may still have some remaining fuel after completing its predefined Moon exploration mission and is able to carry out some additional scientific or technological tasks after escaping from the Moon orbit...The lunar probe may still have some remaining fuel after completing its predefined Moon exploration mission and is able to carry out some additional scientific or technological tasks after escaping from the Moon orbit.The Moon departure mission for the lunar probe is the focus of this paper.The possibility of the spacecraft orbiting the Moon to escape the Moon's gravitational pull is analyzed.The trajectory design for the Earth-Moon system libration point mission is studied in a full ephemeris dynamical model,which considers the non-uniform motion of the Moon around the Earth,the gravity of the Sun and planets and the finite thrust of the onboard engine.By applying the Particle Swarm Optimization algorithm,the trajectory design for the transfer from the Moon-centered orbit to the L1 halo orbit,the station-keeping strategies for the Earth-Moon halo orbit and the construction of homoclinic and heteroclinic orbits are investigated.Taking the tracking conditions and engineering constraints into account,two feasible schemes for the Moon departure libration point mission for the lunar probe are presented.展开更多
In December 2020, Chang’E-5(CE-5), China’s first lunar sample return mission, successfully collected samples totaling 1731 g from the northern Oceanus Procellarum. The landing site was located in a young mare plain,...In December 2020, Chang’E-5(CE-5), China’s first lunar sample return mission, successfully collected samples totaling 1731 g from the northern Oceanus Procellarum. The landing site was located in a young mare plain, a great distance from those of Apollo and Luna missions. These young mare basalts bear critical scientific significance as they could shed light on the nature of the lunar interior(composition and structure) as well as the recent volcanism on the Moon. In this article, we investigated a CE-5 basalt sample(CE5 C0000 YJYX065) using a combination of state-of-art techniques, including high resolution X-ray tomographic microscopy(HR-XTM), energy dispersive X-ray spectroscopy(EDS)-based scanning electron microscope(SEM), and electron probe microanalysis(EPMA) to reveal its 3 D petrology and minerology.Our results show that this sample has a fine-to medium-grained subophitic texture, with sparse olivine phenocrysts setting in the groundmass of pyroxene, plagioclase, ilmenite and trace amounts of other phases. It has an extremely high ilmenite modal abundance(17.8 vol%) and contains a significant amount(0.5 vol%) of Ca-phosphate grains. The mineral chemistry is in excellent agreement with that of Apollo and Luna high-Ti basalts. The major phase pyroxenes also display strong chemical zoning with compositions following the trends observed in Apollo high-Ti basalts. Based on current data, we came to the conclusion that CE5 C0000 YJYX065 is a high-Ti mare basalt with a rare earth element(REE) enriched signature. This provides a rigid ground-truth for the geological context at the CE-5 landing site and clarifies the ambiguity inferred from remote sensing surveys.展开更多
基金Sponsored by the National Natural Science Foundation of China(Grant No.50975059)the National High-Tech Research and Development Program of China(863 Program)(Grant No.2006AA04Z231)+1 种基金the College Discipline Innovation Wisdom Plan(Grant No.B07018)Development Program of the Excellent Youth Scholars of Harbin Institute of Technology(Grant No.CACZ98504837)
文摘A new kind of eight-wheel lunar rover is developed, which is a complex closed-chain system and has good capabilities of climbing slope, surmounting obstacles and adapting to uneven terrain. In this paper, the mechanical structure of the novel eight-wheel lunar rover is introduced, forward and inverse kinematic models of the rover are established according to the closed-chain coordinate transformation and instantaneous coincidence coordinate. Based on structural characteristics, its kinetic characteristics are analyzed. Wheel slippages are separated and calculated, and a method for closed-loop control modification using wheel slip estimation during the model establishment is proposed. The results can be applied to the motion control of lunar rover.
基金Sponsored by the National High Technology Research and Development Program of China(Grant No.2006AA04Z231)Natural Science Foundation of Heilongjiang Province of China(Grant No.ZJG0709)Development Program of the Excellent Youth Scholars of Harbin Institute of Technology(Grant No.CACZ98504837)
文摘In order to save space for storing precision equipments,lower the center of mass of Lander and reduce lunar rover's dimension constraint limited by mechanism of Lander,the locking-releasing mechanism of side-loaded lunar rover loaded outside Lander is presented,which is a kind of metamorphic mechanism.To ensure the working of this mechanism as the metamorphic process designed,configuration analysis of the locking-releasing mechanism is carried out,and topological structures are described by Huston lower numbered arrays.A kinematic mathematical model of the mechanism is established through homogeneous transformation matrix.The kinematic simulation validates the feasibility of the locking-releasing mechanism when the configurations are shifted from one to the other.
基金Supported by the National High Technology Research and Development Program of China (No. 2006AA04Z231 )the Natural Science Foundation of Heilongjiang Province ( No. ZJG0709).
文摘Facing the requirement of establishing a steering mechanical model for the wheel configuration design,selection of steering motors, dynamic analysis and simulation of the lunar rover, shear force beneaththe steering wheel, bulldozing resistance acting on steering wheel rims and side surfaces respectively areconducted on the basis of the wheel-loose soil interaction. The quantitative relation between steering resistancemoment (SRM) and steering radius, dimension of the wheel, soil parameters is established. Tovalidate the model, a single-wheel test bed is employed to test the steering performance of a wheel with0.15735m radius and 0.165m width when the steering radius is 0.00m, 0.04m, 0.08m, 0.12m and0.16m, respectively. The SRM is approached asymptotically with the increasing steering angle and almostproportional to the steering radius. The theoretical results of SRM are compact with the experimental results,which shows that the steering model can predict the experimental results well.
基金supported by the National Natural Science Foundation ofChina (Grant No. 40831061)the National Key Laboratory Special Fund and the Open Research Foundation of Science and Technology on Aerospace Flight Dynamics Laboratory (Grant No. 2012afd1034)
文摘Based on the magnetic field and plasma data obtained by GEOTAIL in 1992-1995 and WIND in1994-2009, the magnetic field and plasma properties in the magnetotail near lunar orbit were studied statistically using the superposed epoch analysis. The results showed that near the 0° sector the plasma density was negatively correlated with Dst index while the temperature was positively correlated with Dst index. The plasma velocity and magnetic field strength had little correlation with Dst index. Around the current sheet near the lunar orbit, the Bx varied between -15-15 nT, the plasma density was less than 0.4 cm^-3, the median of plasma density for all events was less than 0.1 cm^-3, the temperature varied from 0.016 to 8.98 keV, the median of the plasma temperature for all the events was -3 keV, the median of speed was about 200 km/s and the maximum speed was up to 1500 km/s. The tailward and earthward flows could be observed accompanied with the current sheet. For the current sheet cases with tailward flow, the Bx varied from -15 to 15 nT, the upper quartile of plasma velocity was more than 400 krn/s, the maximum speed was up to 1500 km/s. For the current sheet cases with tailward flow, the Bx varied from -10 to 10 nT, the upper quartile of plasma velocity was less than 400 km/s, the maximum speed was up to 1200 km/s. The median of plasma density, temperature and velocity were similar for the two categories. This paper discussed the relationship between above results and magnetic reconnection at magnetic tail, compared the above results with the observation in the far magnetotail. We fitted the statistical results according to the Harris current sheet model, and the observation was consistent with Harris current sheet model. The above results can provide useful information for the design and protection of lunar-orbiting spacecraft and can be used as the background magnetic field and plasma parameters in the numerical simulation of mid-magnetotail reconnection.
基金supported by the National Natural Science Foundation of China (Grant Nos. 10832004 and 11072122)
文摘The lunar probe may still have some remaining fuel after completing its predefined Moon exploration mission and is able to carry out some additional scientific or technological tasks after escaping from the Moon orbit.The Moon departure mission for the lunar probe is the focus of this paper.The possibility of the spacecraft orbiting the Moon to escape the Moon's gravitational pull is analyzed.The trajectory design for the Earth-Moon system libration point mission is studied in a full ephemeris dynamical model,which considers the non-uniform motion of the Moon around the Earth,the gravity of the Sun and planets and the finite thrust of the onboard engine.By applying the Particle Swarm Optimization algorithm,the trajectory design for the transfer from the Moon-centered orbit to the L1 halo orbit,the station-keeping strategies for the Earth-Moon halo orbit and the construction of homoclinic and heteroclinic orbits are investigated.Taking the tracking conditions and engineering constraints into account,two feasible schemes for the Moon departure libration point mission for the lunar probe are presented.
基金supported by the Strategic Priority Research Program of Chinese Academy of Sciences (XDB 41000000)the Civil Aerospace Pre-research Projects (D020202 and D020302)+2 种基金the National Natural Science Foundation of China (41773059, 41873076, 41803051, 41973060, 42073060, and 42173044)the National Key Research and Development Program of China (2021YFA0716100)the Minor Planet Foundation of China
文摘In December 2020, Chang’E-5(CE-5), China’s first lunar sample return mission, successfully collected samples totaling 1731 g from the northern Oceanus Procellarum. The landing site was located in a young mare plain, a great distance from those of Apollo and Luna missions. These young mare basalts bear critical scientific significance as they could shed light on the nature of the lunar interior(composition and structure) as well as the recent volcanism on the Moon. In this article, we investigated a CE-5 basalt sample(CE5 C0000 YJYX065) using a combination of state-of-art techniques, including high resolution X-ray tomographic microscopy(HR-XTM), energy dispersive X-ray spectroscopy(EDS)-based scanning electron microscope(SEM), and electron probe microanalysis(EPMA) to reveal its 3 D petrology and minerology.Our results show that this sample has a fine-to medium-grained subophitic texture, with sparse olivine phenocrysts setting in the groundmass of pyroxene, plagioclase, ilmenite and trace amounts of other phases. It has an extremely high ilmenite modal abundance(17.8 vol%) and contains a significant amount(0.5 vol%) of Ca-phosphate grains. The mineral chemistry is in excellent agreement with that of Apollo and Luna high-Ti basalts. The major phase pyroxenes also display strong chemical zoning with compositions following the trends observed in Apollo high-Ti basalts. Based on current data, we came to the conclusion that CE5 C0000 YJYX065 is a high-Ti mare basalt with a rare earth element(REE) enriched signature. This provides a rigid ground-truth for the geological context at the CE-5 landing site and clarifies the ambiguity inferred from remote sensing surveys.
