【摘要】 针对传统着陆器缓冲装置无法复用的不足，提出了一种可重复使用的小型着陆器，通过各关节上的摩擦制动装置吸收着陆冲击能量，由电机及扭簧组件实现再次起飞后着陆腿的姿态恢复，可满足多点飞跃探测的月表探测任务。完成了一维落震中单套着陆腿在竖直方向上的缓冲吸能动力学分析；基于径向基(RBF)代理模型，面向三种典型着陆工况，采用多目标协同优化方法，对单套着陆腿各关节制动扭矩进行了优化，优化后的缓冲吸能关节可有效降低着陆器在落震过程中的加速度峰值。最后进行了整机多工况落震仿真分析，结果表明，各着陆响应均满足设计要求，也可保证良好的着陆过程稳定性，可为中国后续开展星表单次任务多点位探测提供一种可行的解决方案。更多还原

【Abstract】 Since the conventional cushioning device of the lander can be used only once, a reusable small lander is proposed. The friction braking device on each joint can absorb the landing impact energy. When the lander takes off again, the motor and torsion spring module can restore the landing leg to its initial position, which can realize multi-point leap detection on the lunar surface. Based on a one-dimensional drop shock experiment with a set of landing legs, a dynamics model is established. Based on the three typical landing conditions and radial basis function(RBF) proxy model, the braking torque of each joint is optimized by using multi-objective collaborative optimization method. The optimized cushion energy-absorbing joints can effectively reduce the peak of impact acceleration. Finally, a simulation analysis of the lander under multiple conditions is carried out. The results show that the landing response meets the design requirements and has good landing stability. It can provide reference for the design of new landers in China.更多还原