B111 四脚月着陸機の接触力学解析と転倒性評価(OS13 月・惑星探査ロボットの運動と制御3)

抄録

This paper describes modeling and simulation for a lunar lander "SELENE-B." The simulation model has been designed on Mechanical Dynamics Software "ADAMS." Body frame consists of rigid bodies, which has four elastic legs. Specific definitions have been applied in order to describe characteristic of honeycomb core, and also in order to express contact dynamics with lunar surface. Parameters setting for contact and friction forces are based on ground tests for landing on the simulant imitating lunar regolith. Representative landing patterns have been simulated, and motion analysis has been examined. Also, stable and unstable landings have been evaluated.