In-situ exploration of asteroid surfaces is of great scientific significance.Internally actuated rovers have been released to asteroid surfaces but without enough controllability.To investigate the attitude control ch...In-situ exploration of asteroid surfaces is of great scientific significance.Internally actuated rovers have been released to asteroid surfaces but without enough controllability.To investigate the attitude control characteristics of the cubic rover for asteroid surface exploration,a series of experiments are carried out using the self-designed rover and the low-gravity testbed.The experiments focus on two major themes:The minimum flywheel speed for cubic rover to produce a walking motion in different conditions,and the relationship between the rover’s rotation angle and the flywheel speed in twisting motion.The rover’s dynamical descriptions of the walking and twisting motions are first derived.The features and design of the low-gravity testbed are then summarized,including its dynamics,setup,and validation.A detailed comparison between the dynamic model and the experimental results is presented,which provides a basic reference of the cubic rover’s attitude control in low-gravity environments.展开更多
Equilibrium points and periodic orbits in irregular gravitational fields are significant for an understanding of dynamical behaviors around asteroids as well as deep space exploring missions. The dipole segment is a g...Equilibrium points and periodic orbits in irregular gravitational fields are significant for an understanding of dynamical behaviors around asteroids as well as deep space exploring missions. The dipole segment is a good alternative model to study qualitative dynamical properties near dumbbell-shaped asteroids. In this paper, the dipole segment model and its equilibrium points are simply introduced. The stability of the two triangular equilibrium points of the system is numerically examined. Next, periodic orbits are presented around the dipole segment model in two different cases, in which triangular equilibria are linearly stable and unstable,respectively. New types of periodic orbits are illustrated in detail, including their orbital shapes, periods and the Jacobi integral.The orbital stability, topological classification and bifurcations of these orbits are also analyzed with numerical continuations.展开更多
基金the National Natural Science Foundation of China(No.11972075)the Innovation Research Program of Beijing Institute of Technology(No.2021CX01029)。
文摘In-situ exploration of asteroid surfaces is of great scientific significance.Internally actuated rovers have been released to asteroid surfaces but without enough controllability.To investigate the attitude control characteristics of the cubic rover for asteroid surface exploration,a series of experiments are carried out using the self-designed rover and the low-gravity testbed.The experiments focus on two major themes:The minimum flywheel speed for cubic rover to produce a walking motion in different conditions,and the relationship between the rover’s rotation angle and the flywheel speed in twisting motion.The rover’s dynamical descriptions of the walking and twisting motions are first derived.The features and design of the low-gravity testbed are then summarized,including its dynamics,setup,and validation.A detailed comparison between the dynamic model and the experimental results is presented,which provides a basic reference of the cubic rover’s attitude control in low-gravity environments.
基金supported by the National Natural Science Foundation of China(Grant Nos.11602019&11572035)the Young Elite Scientist Sponsorship Program by China Association for Science and Technology(Grant No.2016QNRC001)Excellent Young Teachers Program of Beijing Institute of Technology(Grant No.2015YG0605)
文摘Equilibrium points and periodic orbits in irregular gravitational fields are significant for an understanding of dynamical behaviors around asteroids as well as deep space exploring missions. The dipole segment is a good alternative model to study qualitative dynamical properties near dumbbell-shaped asteroids. In this paper, the dipole segment model and its equilibrium points are simply introduced. The stability of the two triangular equilibrium points of the system is numerically examined. Next, periodic orbits are presented around the dipole segment model in two different cases, in which triangular equilibria are linearly stable and unstable,respectively. New types of periodic orbits are illustrated in detail, including their orbital shapes, periods and the Jacobi integral.The orbital stability, topological classification and bifurcations of these orbits are also analyzed with numerical continuations.
