Research on the Lander Stability During Lunar Rover Unloading Base on the Theory of ZMP

摘要

The function of the elevator is to help lunar rover arrive lunar surface from the top of Lander after landing. Rocker-arm elevator makes Lander overturn easily because its arm is too long. Different compress extent of the Lander leg, complicated condition of landing location, micro-gravity and unloading acceleration have great influence to the stability of Lander. The paper set the ZMP coordinate equation and the coordinate of support polygon by D-H coordinate law, and builds the rule of the stability. Example simulation result shows that the equation and the rule meet the requirement of Lander stability analysis on all different conditions.