Simulating soft landing of a lunar lander with a mechanical landing device

The paper proposes an approach to simulating soft landing dynamics of a lunar lander equipped with a mechanical landing device during touchdown phase. It describes the kinematic configuration of the transformable leg of the landing device. A math model describing the lunar lander dynamics from its initial contact with the landing surface to its complete stop was developed, which treats the lander body and elements of its landing device as a structurally complex mechanical system with internal links reflecting design constraints on the relative motion of the leg elements. A system of equations for determining constraint reacting forces and torques was derived. Possibilities offered by this approach are illustrated with a specific example.