Stability analysis of micro-probe landings in complex terrain

Abstract Addressing the problem of landing stability of the micro-probes on the surface of extraterrestrial objects, combined with the geometric properties of the orthotetrahedron, this paper proposes a structural design method of the four-spine microprobe landing bracket that can adapt to the complex terrain and carries out the analysis of the landing stability of the four-spine bracket under the state of three-legged landing and the optimization of the structure for combined terrain of stones and slopes. Referring to the ZMP theory, the harsh working conditions of the four-spine bracket when landing are sorted out and determined. Based on the kinematics theory, the collision mechanism between the four-spine bracket and the ground is analyzed, and a landing model suitable for the micro-probes is established, which provides the basis for determining the landing stability of the micro-probe. Around the collision mechanism and landing model, the dimension optimization of the four-spine bracket is carried out, and the results of Adams dynamics simulation analysis and prototype test show that the landing stability of the four-spine bracket is improved, which verifies the validity of the optimization idea.