498
15 System Testing and Validation Technology of Lunar Lander
Secondary servo system
First servo system
Tower main structure
Quick servo System
Fig. 15.8 Test gantry structure
Rope
Lunar Lander
Gimbal
spreader
R X
R Y
Mass Center
R Z
R Z
R Z
Fig. 15.9 Principle of gimbal spreader
two interfaces that the connection line between them passed the mass center of the
lunar lander test model. The other end was connected to the rope of the test gantry.
In the test, the gimbal spreader could provide pitch, roll and yaw DOF of the lunar
lander test model. The principle is shown in Fig. 15.9.