A legged device based on active buffering for probe landing on micro-gravitational asteroid

Canhui Yin; Yilin Shen; Xiaolin Zhang; Fan Guo; Qiquan Quan; Dewei Tang; Zongquan Deng

doi:10.1109/ROBIO49542.2019.8961513

A legged device based on active buffering for probe landing on micro-gravitational asteroid

Canhui Yin
, Yilin Shen
, Xiaolin Zhang
, Fan Guo
, Qiquan Quan
, Dewei Tang
, Zongquan Deng

School of Mechatronics Engineering

Harbin Institute of Technology
China Aerospace Science and Technology Corporation

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

4 Scopus citations

Abstract

The landing of the probe on the asteroid surface provides the technical basis for in-situ exploration and sampling return and promotes to maximize the value of the probe. The micro-gravitation and the uncertainty in topography and geology on the asteroid surface pose challenges to the landing of the probe. To develop the asteroid landing technology, the legged landing device of asteroid probe based on active buffering mode is studied in this paper. The landing device adopts a three-legged structure to possess higher adaptability to the surface topography of asteroids and get the light and simple configuration. Besides, a buffering unit is designed based on the active mode of the damping motor which has obvious advantages in self-adaptability and autonomy. Through the comparison of various schemes, the slider-legged landing device is determined and designed in detail. On this basis, the co-simulation of the probe landing on the asteroid surface is completed, which shows the satisfaction of this device to reliability and efficiency. Finally, a prototype of the landing device is constructed and the micro-gravitational simulated test platform is developed to implement the landing buffering test of asteroid probe. The test results validate the performance of the landing device.

Original language	English
Title of host publication	IEEE International Conference on Robotics and Biomimetics, ROBIO 2019
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1483-1488
Number of pages	6
ISBN (Electronic)	9781728163215
DOIs	https://doi.org/10.1109/ROBIO49542.2019.8961513
State	Published - Dec 2019
Event	2019 IEEE International Conference on Robotics and Biomimetics, ROBIO 2019 - Dali, China Duration: 6 Dec 2019 → 8 Dec 2019

Publication series

Name	IEEE International Conference on Robotics and Biomimetics, ROBIO 2019

Conference

Conference	2019 IEEE International Conference on Robotics and Biomimetics, ROBIO 2019
Country/Territory	China
City	Dali
Period	6/12/19 → 8/12/19

Keywords

Active Buffer
Asteroid Exploration
Damping Motor
Landing Device
Legged Structure

Access to Document

10.1109/ROBIO49542.2019.8961513

Cite this

Yin, C., Shen, Y., Zhang, X., Guo, F., Quan, Q., Tang, D., & Deng, Z. (2019). A legged device based on active buffering for probe landing on micro-gravitational asteroid. In IEEE International Conference on Robotics and Biomimetics, ROBIO 2019 (pp. 1483-1488). Article 8961513 (IEEE International Conference on Robotics and Biomimetics, ROBIO 2019). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBIO49542.2019.8961513

@inproceedings{21c32aa4812b496f935955c9a64e0e8d,

title = "A legged device based on active buffering for probe landing on micro-gravitational asteroid",

abstract = "The landing of the probe on the asteroid surface provides the technical basis for in-situ exploration and sampling return and promotes to maximize the value of the probe. The micro-gravitation and the uncertainty in topography and geology on the asteroid surface pose challenges to the landing of the probe. To develop the asteroid landing technology, the legged landing device of asteroid probe based on active buffering mode is studied in this paper. The landing device adopts a three-legged structure to possess higher adaptability to the surface topography of asteroids and get the light and simple configuration. Besides, a buffering unit is designed based on the active mode of the damping motor which has obvious advantages in self-adaptability and autonomy. Through the comparison of various schemes, the slider-legged landing device is determined and designed in detail. On this basis, the co-simulation of the probe landing on the asteroid surface is completed, which shows the satisfaction of this device to reliability and efficiency. Finally, a prototype of the landing device is constructed and the micro-gravitational simulated test platform is developed to implement the landing buffering test of asteroid probe. The test results validate the performance of the landing device.",

keywords = "Active Buffer, Asteroid Exploration, Damping Motor, Landing Device, Legged Structure",

author = "Canhui Yin and Yilin Shen and Xiaolin Zhang and Fan Guo and Qiquan Quan and Dewei Tang and Zongquan Deng",

note = "Publisher Copyright: {\textcopyright} 2019 IEEE.; 2019 IEEE International Conference on Robotics and Biomimetics, ROBIO 2019 ; Conference date: 06-12-2019 Through 08-12-2019",

year = "2019",

month = dec,

doi = "10.1109/ROBIO49542.2019.8961513",

language = "英语",

series = "IEEE International Conference on Robotics and Biomimetics, ROBIO 2019",

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Yin, C, Shen, Y, Zhang, X, Guo, F, Quan, Q , Tang, D & Deng, Z 2019, A legged device based on active buffering for probe landing on micro-gravitational asteroid. in IEEE International Conference on Robotics and Biomimetics, ROBIO 2019., 8961513, IEEE International Conference on Robotics and Biomimetics, ROBIO 2019, Institute of Electrical and Electronics Engineers Inc., pp. 1483-1488, 2019 IEEE International Conference on Robotics and Biomimetics, ROBIO 2019, Dali, China, 6/12/19. https://doi.org/10.1109/ROBIO49542.2019.8961513

A legged device based on active buffering for probe landing on micro-gravitational asteroid. / Yin, Canhui; Shen, Yilin; Zhang, Xiaolin et al.
IEEE International Conference on Robotics and Biomimetics, ROBIO 2019. Institute of Electrical and Electronics Engineers Inc., 2019. p. 1483-1488 8961513 (IEEE International Conference on Robotics and Biomimetics, ROBIO 2019).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - A legged device based on active buffering for probe landing on micro-gravitational asteroid

AU - Yin, Canhui

AU - Shen, Yilin

AU - Zhang, Xiaolin

AU - Guo, Fan

AU - Quan, Qiquan

AU - Tang, Dewei

AU - Deng, Zongquan

PY - 2019/12

Y1 - 2019/12

N2 - The landing of the probe on the asteroid surface provides the technical basis for in-situ exploration and sampling return and promotes to maximize the value of the probe. The micro-gravitation and the uncertainty in topography and geology on the asteroid surface pose challenges to the landing of the probe. To develop the asteroid landing technology, the legged landing device of asteroid probe based on active buffering mode is studied in this paper. The landing device adopts a three-legged structure to possess higher adaptability to the surface topography of asteroids and get the light and simple configuration. Besides, a buffering unit is designed based on the active mode of the damping motor which has obvious advantages in self-adaptability and autonomy. Through the comparison of various schemes, the slider-legged landing device is determined and designed in detail. On this basis, the co-simulation of the probe landing on the asteroid surface is completed, which shows the satisfaction of this device to reliability and efficiency. Finally, a prototype of the landing device is constructed and the micro-gravitational simulated test platform is developed to implement the landing buffering test of asteroid probe. The test results validate the performance of the landing device.

AB - The landing of the probe on the asteroid surface provides the technical basis for in-situ exploration and sampling return and promotes to maximize the value of the probe. The micro-gravitation and the uncertainty in topography and geology on the asteroid surface pose challenges to the landing of the probe. To develop the asteroid landing technology, the legged landing device of asteroid probe based on active buffering mode is studied in this paper. The landing device adopts a three-legged structure to possess higher adaptability to the surface topography of asteroids and get the light and simple configuration. Besides, a buffering unit is designed based on the active mode of the damping motor which has obvious advantages in self-adaptability and autonomy. Through the comparison of various schemes, the slider-legged landing device is determined and designed in detail. On this basis, the co-simulation of the probe landing on the asteroid surface is completed, which shows the satisfaction of this device to reliability and efficiency. Finally, a prototype of the landing device is constructed and the micro-gravitational simulated test platform is developed to implement the landing buffering test of asteroid probe. The test results validate the performance of the landing device.

KW - Active Buffer

KW - Asteroid Exploration

KW - Damping Motor

KW - Landing Device

KW - Legged Structure

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M3 - 会议稿件

AN - SCOPUS:85079041232

T3 - IEEE International Conference on Robotics and Biomimetics, ROBIO 2019

SP - 1483

EP - 1488

BT - IEEE International Conference on Robotics and Biomimetics, ROBIO 2019

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2019 IEEE International Conference on Robotics and Biomimetics, ROBIO 2019

Y2 - 6 December 2019 through 8 December 2019

ER -

Yin C, Shen Y, Zhang X, Guo F, Quan Q , Tang D et al. A legged device based on active buffering for probe landing on micro-gravitational asteroid. In IEEE International Conference on Robotics and Biomimetics, ROBIO 2019. Institute of Electrical and Electronics Engineers Inc. 2019. p. 1483-1488. 8961513. (IEEE International Conference on Robotics and Biomimetics, ROBIO 2019). doi: 10.1109/ROBIO49542.2019.8961513

A legged device based on active buffering for probe landing on micro-gravitational asteroid

Abstract

Publication series

Conference

Keywords

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