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Kinematic Analysis of Soft-landing Mechanism for a Lunar Probe in the Deployment Process

Huang Chuanping Liu Zhiquan (China Academy of Space Technology,Beijing 100094)   

  • Published:2007-04-25

Abstract: Soft-landing mechanism is the key device for a lunar probe.The deployment principle of a "four-leg" soft-landing mechanism was analyzed.Singularity of the mechanism was discussed.Constraint conditions of the mechanism without singularity were given.Kinematic equation groups for the deployment mechanism were founded.Kinematic parameters and the variation were obtained by solving non-linear kinematic equation groups with Newton-Raphson method.