中文摘要：

小行星着陆装置实现着陆器在小行星表面的着陆，其动力学及着陆性能研究对着陆装置研制具有重要意义．基于三腿式小型着陆装置，在对其结构特点及着陆策略分析的基础上，采用Lagrange方程建立了二维着陆动力学模型，模型对着陆及翻转阶段的动力学特性进行了描述，其计算结果与仿真验证较为接近且具有一致的变化趋势．在最大允许倾角为30°的着陆面上，采用仿真分析方法对着陆装置在不同着陆速度及偏航角下的着陆性能进行了统计分析，结果表明着陆装置具有良好的着陆性能．

英文摘要：

The asteroid landing mechanism is used to landing on the asteroid. Its landing dynamic and landing performance studies have a grateful guidance to the design of itself. The mechanical characteristics and landing strategy of the small landing mechanism with three legs were analyzed, and then a Lagrange method was introduced to build its two-dimensional landing dynamic model. This model described the dynamic charac teristics of the landing mechanism in the landing and turning stages. The analyzing results of this model were validated by simulation. Their results were close and had accordant changing trends. On the most permitted inclined landing slope with 30 degree, the landing performance of the landing mechanism with different landing velocities and yaw angels were simulated in Adams software and analyzed statistically. The results show that the landing mechanism has a reasonable landing performance.