The Europa Lander is a mission by NASA to land scientific instruments on the Jovian Moon by 2030. The current design of the landing system envisions fixed landing legs with the lander being lowered down at very low velocities (≈ 0.1 m/s) by use of a Skycrane. This latter system not only adds mass, but also requires complicated moving parts and a high reliance on control systems to work properly. This thesis wants to propose an alternative design to the Europa Lander Landing System that uses sturdier legs that can withstand landing at higher velocities than originally envisioned. This eliminates the need to use a Skycrane system. In order to pack them in a more efficient way while coasting, the landing legs are of the deployable type.
In order to track the deployment dynamics of the landing system a 2-dimensional Matlab deployment model based on double pendulum motion with damping is created. Furthermore, in order to prove the landability with a prescribed landing case, a landing model is created using FEA software Abaqus. The landing model is used to make sure that stresses, strains and G forces applied to the rest of the lander don’t exceed prescribed values as dictated by requirements. The implementation of both models is verified by comparing models found in literature with the ones made for the purpose of this thesis. Good correlation is shown with less than 10% of difference between literature results and results for this thesis.
The result through the modelling found a specific geometry with parameters that include, but are not limited to: length of leg elements, joint damping and maximum deployment angles. The 2-dimensional geometry features output by the Matlab deployment model are fed into the Abaqus landing model in order to assess the landing performance with a single leg landing. The landing case has been chosen as a worst case scenario. 2 landing leg designs, with the same geometry, but one made of metallic parts and the other made of composite materials are compared in the landing model. In this model it was found that both designs pass the stress (or strain for the composite leg design) and G forces
requirements when a shock absorber is attached to the leg and when they land on deformable Lunar like soil. On the other hand, the landing legs don’t pass G forces requirements when landing on stiff soil.
Through the modelling, it was also possible to give preliminary design guidelines over the subsystems making the landing system. Therefore, system engineering practices have been used in order to initiate the design of some of the subsystems such as the landing damping, the leg joints and the locking mechanism to lock the legs at the desired angle and make sure they don’t retract. Simplifications have been made in order to model some of the landing and deployment aspects of the system for this thesis. Matters related to the adaptability and the detailed design of each of the subsystems have been left as future work.
In the end, a comparison between the design developed in this thesis and the current Europa Lander Landing System design is made difficult by the lack of technical data on the latter related to mass. Nevertheless, a design that uses the decelerations of the engine module before touchdown is developed and the suggested material for the leg elements is CFRP. The design, though, didn’t pass mass fraction requirements when computing the mass of the extra subsystems. Even so, locations where potential gains through mass optimization can be performed for future studies have been pointed out.