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Lunar Surface Fault-Tolerant Soft-Landing Performance and Experiment for a Six-Legged Movable Repetitive Lander.
- Source :
-
Sensors (14248220) . Sep2021, Vol. 21 Issue 17, p5680. 1p. - Publication Year :
- 2021
-
Abstract
- The cascading launch and cooperative work of lander and rover are the pivotal methods to achieve lunar zero-distance exploration. The separated design results in a heavy system mass that requires more launching costs and a limited exploration area that is restricted to the vicinity of the immovable lander. To solve this problem, we have designed a six-legged movable repetitive lander, called "HexaMRL", which congenitally integrates the function of both the lander and rover. However, achieving a buffered landing after a failure of the integrated drive units (IDUs) in the harsh lunar environment is a great challenge. In this paper, we systematically analyze the fault-tolerant capacity of all possible landing configurations in which the number of remaining normal legs is more than two and design the landing algorithm to finish a fault-tolerant soft-landing for the stable configuration. A quasi-incentre stability optimization method is further proposed to increase the stability margin during supporting operations after landing. To verify the fault-tolerant landing performance on the moon, a series of experiments, including five-legged, four-legged and three-legged soft-landings with a vertical landing velocity of −1.9 m/s and a payload of 140 kg, are successfully carried out on a 5-DoF lunar gravity ground-testing platform. The HexaMRL with fault-tolerant landing capacity will greatly promote the development of a next-generation lunar prober. [ABSTRACT FROM AUTHOR]
- Subjects :
- *LUNAR exploration
*PROBLEM solving
*ALGORITHMS
*LUNAR surface
*MARTIAN exploration
Subjects
Details
- Language :
- English
- ISSN :
- 14248220
- Volume :
- 21
- Issue :
- 17
- Database :
- Academic Search Index
- Journal :
- Sensors (14248220)
- Publication Type :
- Academic Journal
- Accession number :
- 152399411
- Full Text :
- https://doi.org/10.3390/s21175680