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以新型腿式着陆器为研究对象,建立其刚柔耦合动力学分析模型,实现着陆器软着陆过程的仿真。通过仿真计算,确定着陆器最易翻倒、底面最易与星球表面岩石碰撞、主体承受最大碰撞力的3组恶劣着陆工况。分析着陆器缓冲机构构型选取设计变量,基于仿真得到的3组恶劣工况,应用第二代非劣排序遗传算法(NSGA-Ⅱ)实现着陆器软着陆性能的优化,优化目标为增强着陆器抗翻倒能力、降低着陆器底面与星球表面岩石碰撞的可能性、降低着陆器主体最大受力值。将优化所得参数代入模型重新进行仿真,着陆器不再发生翻倒,着陆平台底面与星球表面最小距离提高4.2%,主体最大受力值降低12.1%。
Taking the new type of legged lander as the research object, the rigid-flexible coupling dynamic model was established to simulate the process of the lander’s soft landing. Through the simulation calculation, it is confirmed that the lander is the most likely to overturn, the bottom surface most likely to collide with the rock on the surface of the planet, and the main body to withstand the maximum landing force of 3 sets of bad landing conditions. Based on the three bad conditions, the second generation non-inferior ranked genetic algorithm (NSGA-II) was used to optimize the landing soft landing performance of the lander buffer mechanism. The optimization target was the enhanced lander Anti-overturn ability, reduce the possibility of collision between the underside of the lander and the rock on the surface of the planet, and reduce the maximum force of the main lander. The optimized parameters were substituted into the model to simulate again, the lander would not fall over again, the minimum distance between the bottom of the landing platform and the planetary surface increased by 4.2%, and the maximum force of the main body decreased by 12.1%.