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以火星车从着陆平台安全转移至火星表面为研究目标,提出一种三折平展坡道转移方案。火星车坡道式转移方案难点在于,着陆点地形地貌不确定和着陆器自身姿态的不确定将导致火星车转移姿态不确定从而增大转移风险。为保证火星车坡道式转移安全性,开展火星车坡道式转移姿态分析,获得满足火星车安全转移要求的最小坡道长度并评价出极限转移姿态。为使三折坡道展开总长度尽可能靠近最小坡道长度需求,进行了三折坡道长度优化分析,获得在着陆器构型约束下三折坡道长度最大值,可为我国火星车转移工程实施提供借鉴。
In order to make the rover move safely from the landing platform to the surface of Mars, a three-fold flat ramp transfer scheme is proposed. The difficulty of the rover ramp transfer program is that the uncertainty of the topography of the landing site and the uncertainty of the lander’s own posture will lead to an uncertain rover position and increase the risk of transfer. In order to ensure the safety of racer transfer, the attitude analysis of rover ramp transfer was carried out to obtain the minimum ramp length which meets the requirements of rover safety transfer and evaluate the limit transfer attitude. In order to make the total length of three-turn ramp as close to the minimum ramp length as possible, the length of three-turn ramp is optimized and the maximum of the three-turn ramp length is obtained under the constraint of the lander configuration. Project implementation to provide reference.