Currently, anchoring theory is mainly about the pile foundation engineering. Both of penetrating and anchoring analysis can guide the anchoring of the landing mechanism on the asteroid surface.ДЄt present, the anchoring theory research on the asteroid landing is still in the starting state, and the relevant theoretical model has not been reported.

Penetrating analysis can predict penetrating depth of the anchoring system on the asteroid surface, and anchoring analysis can estimate the anchoring force that can be generated by the anchoring system at a certain penetration depth. Therefore, it is significant to analyze the penetrating-anchoring theory of the anchoring system on the asteroid surface. The anchoring force is closely related to the penetrating depth and the medium characteristics, and the penetrating depth is related to the mass of the anchor body, the shape of the anchor tip, the characteristics of the medium, and so on. The greater the anchoring force, the easier it is for the landing mechanism to be anchored on the asteroid surface. The landing mechanism must be fixed on the asteroid surface by the anchoring system to prevent flowing away due to the microgravity on the asteroid. Moreover, asteroid exploration opens up a new field of deep space exploring. IntroductionДЄsteroid exploration has high scientific and economic values, such as finding evolution history of the planetary system, finding the origin of the solar system and the life, and exploring the asteroid resources. The model establishes a relationship between the anchoring force and the initial penetrating conditions. Finally, a penetrating-anchoring mathematical model is built with the penetrating depth as the link. Secondly, an anchoring mathematical model is established, which shows the relationships among the anchoring force, medium properties, and penetrating depth. This penetrating mathematical model can be used to calculate the penetrating depth of the anchor body according to the penetrating speed and the medium properties. In the paper, based on the characteristics of Mohr-Coulomb material, a penetrating mathematical model of the anchoring system is established.

At present, the study on the anchoring system is mainly focused on the mechanical design, but there are few researches on the penetrating or anchoring mathematical model, and the researches on combining two models with each other are even more lacking. The asteroid landing mechanism is necessary to be anchored to avoid flowing away.

5.45 find the anchoring forces