<abstract xmlns="http://www.w3.org/1999/xhtml">

<p>It is of great significance for improving the landing stability and adjusting the attitude of equipment base by designing a cardan mechanism in the asteroid lander. In the paper, a cardan mechanism having cushion and attitude adjusting functions is designed for the asteroid lander. The cardan mechanism contains electromagnetic damping, belt transmission and cross-shaft, and it has merits of adjustable damping and bearing large overload. The attitude control system of the cardan mechanism is built by FPGA chip. Kinematics and kinetics of the cardan mechanism are analyzed for attitude control. Complex feedback PD controller is applied to control the attitude of the cardan mechanism as large mass equipment base would influence control performance. This controller contains real time gravity compensation, desired acceleration compensation and velocity feed forward compensation. The experiments show that the cardan mechanism designed in this paper has good performance by adopting Complex feedback PD controller.</p>
</abstract>

It is of great significance for improving the landing stability and adjusting the attitude of equipment base by designing a cardan mechanism in the asteroid lander. In the paper, a cardan mechanism having cushion and attitude adjusting functions is designed for the asteroid lander. The cardan mechanism contains electromagnetic damping, belt transmission and cross-shaft, and it has merits of adjustable damping and bearing large overload. The attitude control system of the cardan mechanism is built by FPGA chip. Kinematics and kinetics of the cardan mechanism are analyzed for attitude control. Complex feedback PD controller is applied to control the attitude of the cardan mechanism as large mass equipment base would influence control performance. This controller contains real time gravity compensation, desired acceleration compensation and velocity feed forward compensation. The experiments show that the cardan mechanism designed in this paper has good performance by adopting Complex feedback PD controller.

Development of a Cardan Mechanism for the Asteroid Lander

International Journal on Smart Sensing and Intelligent Systems

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

{"article-title":"Development of a Cardan Mechanism for the Asteroid Lander"}

It is of great significance for improving the landing stability and adjusting the attitude of equipment base by designing a cardan mechanism in the asteroid...

Development of a Cardan Mechanism for the Asteroid Lander

Published Online: Jun 05, 2013

Page range: 1283 - 1297

Received: Jan 15, 2012

Accepted: Apr 12, 2013

DOI: https://doi.org/10.21307/ijssis-2017-590

© 2013 Zhijun Zhao et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.