The low‐velocity penetrator (LVP) is a planetary penetration device that can drive itself to a target depth through its internal periodic impacts. When LVP generates impact energy, it inevitably produces a recoil that can only be counteracted by friction with the soil, if there is no other auxiliary device. Unfortunately, LVP is extraordinarily sensitive to the recoil during the initial stage since the small contact area with the soil results in minor friction between them. Significantly, once the recoil exceeds the friction, LVP cannot work properly and may even retreat, inducing mission failure. In this paper, we develop an optimized LVP with an auxiliary device for lower recoil and higher performance. Specifically, we establish a dynamic model to analyze the single‐cycle motion of LVP and provide essential support for its optimization and design. Meanwhile, an integration method is proposed to calculate the friction between LVP and the soil reasonably and accurately. On the basis of these, we obtain the optimal mass and stiffness parameters of LVP that meet both high penetration efficiency and low recoil. Furthermore, only relying on the parameter optimization is insufficient to eliminate the recoil, and an auxiliary penetration scheme is proposed to provide an external force counteracting the recoil until LVP arrives at a certain depth. Through multiple comparative penetration experiments, we validate the effectiveness of our approaches in promoting penetration ability, stability, and restraining the recoil of LVP. This work provides two novel approaches for solving the contradiction of efficient penetration while reducing the recoil for LVP.

中文翻译：

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解决低速侵彻弹高效侵彻与低后坐力矛盾的两种新方法

低速侵彻器（LVP）是一种行星侵彻装置，可以通过其内部周期性冲击自行驱动至目标深度。LVP产生冲击能时，不可避免地会产生反冲力，如果没有其他辅助装置，只能通过与土壤的摩擦力来抵消。不幸的是，LVP 在初始阶段对后坐力非常敏感，因为与土壤的接触面积较小，导致它们之间的摩擦力较小。值得注意的是，一旦后坐力超过摩擦力，LVP就无法正常工作，甚至可能后退，导致任务失败。在本文中，我们开发了一种带有辅助装置的优化 LVP，以实现更低的后坐力和更高的性能。具体来说，我们建立了动力学模型来分析LVP的单周期运动，为其优化和设计提供必要的支持。同时提出了一种积分方法来合理、准确地计算LVP与土体之间的摩擦力。在此基础上，我们得到了同时满足高侵彻效率和低后坐力的LVP的最佳质量和刚度参数。此外，仅依靠参数优化不足以消除后坐力，提出了辅助侵彻方案，提供抵消后坐力的外力，直到LVP到达一定深度。通过多次对比侵彻实验，验证了我们的方法在提高LVP侵彻能力、稳定性和抑制反冲力方面的有效性。这项工作为解决LVP有效侵彻和减少后坐力的矛盾提供了两种新方法。