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中文摘要：
因基于摇臂式月球车释放机构在月球车释放时对着陆器的倾翻力矩较大,易使着陆器倾翻而导致整个探测任务失败,所以对月球车着陆释放时着陆器稳定性的研究尤为重要。将着陆器腿不等量压缩、月面坡度、低重力环境、释放加速度等因素进行参数化处理;应用D-H坐标法得到基于各参量的支撑多边形坐标以及着陆器和月球车的位姿方程,进而建立了月球车释放过程中的零力矩点（ZMP）坐标方程和稳定性判定依据。通过实例仿真分析,一方面验证了方程的正确性,另一方面得到了各参数对着陆器稳定性的影响,进而求得着陆器不倾翻的临界月球车着陆释放速度,该速度为月球车着陆释放控制提供了理论依据。
英文摘要：
When a lunar rover is being unloaded from the lander by a rocker-style unloading mechanism,the overturning moment acting on the lander may be so large that it can make the whole exploration mission a failure.Therefore it is very important to research on the impact of rover unloading on lander stability.Different compression extents of the lander leg and complicated conditions of the lunar surface and unloading speeds are first defined as parameters and then support polygon coordinates and the positions of the rover can be expressed as the equations of these parameters by the D-H coordinate method,and finally the zero moment point（ZMP） coordinate equation and stability criteria are found.It can be verified that the equation is correct and the influence of every parameter on lander stability and the critical instability speed are found by simulation example analysis.This study can serve as the theoretical basis for the control strategy of rover unloading.
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Analysis on band gap properties of periodic structures of bar system using the spectral element meth
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