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首页> 外文会议>International conference on advanced materials and engineering materials >Research on the Lander Stability During Lunar Rover Unloading Base on the Theory of ZMP
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Research on the Lander Stability During Lunar Rover Unloading Base on the Theory of ZMP

机译：基于ZMP理论的月球车卸载过程中着陆器稳定性研究

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摘要

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.
机译：电梯的功能是帮助登月车着陆后从登陆器的顶部到达登月表面。摇臂升降机使Lander容易翻倒，因为其臂太长。兰德腿的压缩程度不同，着陆位置的复杂情况，微重力和卸荷加速度对兰德的稳定性有很大的影响。通过D-H坐标定律，建立了ZMP坐标方程和支撑多边形坐标，建立了稳定性定律。实例仿真结果表明，该方程和规则在所有不同条件下均满足Lander稳定性分析的要求。

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