Simulation And Experiments On Electromagnetic Damping Asteroid Landing Buffer Mechanism

Asteroids retain the original information of the solar system and provide rich mineral resources,which are of great exploration value.Due to the small size and light weight of asteroids,the surface environment with microgravity and weak gravitation,and the surface is mostly boulders,ravines and other rugged terrain,the detection methods of asteroids mostly adopt the detection methods of flyby and companion flight.The mission can only obtain less information.The successful multipoint attachment detection on the asteroid surface will effectively increase the research value of the detection.The key to asteroid detection is to dissipate the landing impact energy through the buffer mechanism to prevent the probe from tipping and flying.In this paper,an electromagnetic damping landing buffer mechanism is proposed,the buffer mechanism is designed in detail,the dynamics joint simulation of the landing buffer is carried out,and the air-floating microgravity test platform is designed.It is verified that the characteristics of the buffer mechanism change with the land conditions.Considering the requirements of high reliability and strong adaptability to unknown terrain,a three-leg space uniform configuration is adopted,and the buffer mechanism is arranged at the root of the landing leg.The design of the buffer mechanism is completed according to the design index and working principle.The buffer mechanism includes a DC motor,a reducer,and a sheave transmission mechanism.Based on the conservation of kinetic energy under extreme landing conditions,the design and selection of motors and reducers have been completed,and the detailed design of the buffer mechanism has been completed,and a reliable control system has been designed according to functional requirements.Based on dynamics and visual programming simulation software,a joint simulation of the landing process of a single landing leg,two landing legs and three landing legs was carried out.The parameter configuration of the microgravity environment and simulation model is completed in ADAMS.Based on the PID control strategy,the motor control model is established in the visual programming simulation software.The PID parameters were optimized through the single-leg joint simulation and applied to the two-leg and three-leg joint simulation.The joint simulation results of the two landing legs with or without the buffer mechanism are compared and analyzed to verify the effectiveness of the scheme.The variation of the buffer characteristics with the land speed and landing angle is analyzed.Joint simulation under typical working conditions of the three landing legs was carried out,and the variation law of cushioning characteristics under different working conditions was obtained.Considering the microgravity environment on the surface of asteroids,an air flotation microgravity test device was developed.A three-degree-of-freedom air flotation platform was used to simulate the microgravity environment,and the terrain simulation wall was used to simulate the stellar soil medium.Buffer experiments with different landing parameters under the medium of sandstone and foamed star soil were carried out,and the variation of the buffer performance with the land inclination angle and landing speed was obtained.Relying on the buffer mechanism during the test,the principle prototype of the detector can be reliably attached to the surface of the asteroid,which verifies the effectiveness of the electromagnetic damping buffer mechanism.The comparison and analysis of the variation law of the buffer time with the land inclination in the simulation and the experiment shows that the results are consistent,which verifies the accuracy of the simulation results.