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Lunar Surface Fault-Tolerant Soft-Landing Performance and Experiment for a Six-Legged Movable Repetitive Lander
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...
Autores principales: | , , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
MDPI
2021
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Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8433680/ https://www.ncbi.nlm.nih.gov/pubmed/34502571 http://dx.doi.org/10.3390/s21175680 |
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author | Yin, Ke Zhou, Songlin Sun, Qiao Gao, Feng |
author_facet | Yin, Ke Zhou, Songlin Sun, Qiao Gao, Feng |
author_sort | Yin, Ke |
collection | PubMed |
description | 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. |
format | Online Article Text |
id | pubmed-8433680 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2021 |
publisher | MDPI |
record_format | MEDLINE/PubMed |
spelling | pubmed-84336802021-09-12 Lunar Surface Fault-Tolerant Soft-Landing Performance and Experiment for a Six-Legged Movable Repetitive Lander Yin, Ke Zhou, Songlin Sun, Qiao Gao, Feng Sensors (Basel) Article 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. MDPI 2021-08-24 /pmc/articles/PMC8433680/ /pubmed/34502571 http://dx.doi.org/10.3390/s21175680 Text en © 2021 by the authors. https://creativecommons.org/licenses/by/4.0/Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/). |
spellingShingle | Article Yin, Ke Zhou, Songlin Sun, Qiao Gao, Feng Lunar Surface Fault-Tolerant Soft-Landing Performance and Experiment for a Six-Legged Movable Repetitive Lander |
title | Lunar Surface Fault-Tolerant Soft-Landing Performance and Experiment for a Six-Legged Movable Repetitive Lander |
title_full | Lunar Surface Fault-Tolerant Soft-Landing Performance and Experiment for a Six-Legged Movable Repetitive Lander |
title_fullStr | Lunar Surface Fault-Tolerant Soft-Landing Performance and Experiment for a Six-Legged Movable Repetitive Lander |
title_full_unstemmed | Lunar Surface Fault-Tolerant Soft-Landing Performance and Experiment for a Six-Legged Movable Repetitive Lander |
title_short | Lunar Surface Fault-Tolerant Soft-Landing Performance and Experiment for a Six-Legged Movable Repetitive Lander |
title_sort | lunar surface fault-tolerant soft-landing performance and experiment for a six-legged movable repetitive lander |
topic | Article |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8433680/ https://www.ncbi.nlm.nih.gov/pubmed/34502571 http://dx.doi.org/10.3390/s21175680 |
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