The asteroid landing mechanism is necessary to be anchored to avoid flowing away. 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. In the paper, based on the characteristics of Mohr-Coulomb material, a penetrating mathematical model of the anchoring system is established. 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. Secondly, an anchoring mathematical model is established, which shows the relationships among the anchoring force, medium properties, and penetrating depth. Finally, a penetrating-anchoring mathematical model is built with the penetrating depth as the link. The model establishes a relationship between the anchoring force and the initial penetrating conditions.

中文翻译：

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软小行星锚固系统的穿透锚固数学模型

必须固定小行星着陆机制，以免流走。目前，对锚固系统的研究主要集中在机械设计上，但对渗透或锚固数学模型的研究很少，甚至缺乏将两种模型相互结合的研究。根据Mohr-Coulomb材料的特性，建立了锚固系统的渗透数学模型。该穿透数学模型可用于根据穿透速度和介质特性来计算锚固体的穿透深度。其次，建立锚固数学模型，显示锚固力，介质性质和穿透深度之间的关系。最后，建立了以穿透深度为纽带的穿透锚固数学模型。该模型在锚固力和初始穿透条件之间建立关系。