解决附着稳定性难题是小天体采样返回任务设计与实施的关键。不同于月球与火星着陆探测，小天体探测具有更苛刻的空间环境约束且对附着机构有更严苛的功能与性能需求，无法沿用月球/火星着陆缓冲机构设计。因此，本课题探索新型小天体附着机构设计方法，将解决高真空、微弱引力、未知地形与表面特性下具有“高效缓冲、稳定支撑、强地形适应、降落/上升重复使用”等多功能和高性能的附着机构设计难题。主要研究包括：1）小天体发动机推力、附着机构姿态和刚度对附着稳定性影响规律；2）构型、姿态与结构多层级强耦合的变刚度小天体附着机构设计方法；3）原理样机研制与功能模拟试验。本课题拟采用构型、姿态与结构多层级变刚度机构设计方法设计小天体附着机构，突破附着冲击力过大、支撑不稳定、降落/上升重复多次使用且缓冲/支撑对刚度需求冲突的难题。该研究将丰富现代空间机构设计理论，并为我国小天体探测器附着机构设计提供重要参考与理论支持。

High-stability landing gear plays an essential role in the mission of small celestial body detection. Compared with landing on the moon and Mars, landing on small celestial body is realized under tough conditions and depends on high-performance landing gear, and the landing gears for Lunar/Mars landing are no longer capable. Therefore, this study explores the method to design a novel landing gear to address the problem of small celestial body landing, aiming to achieve the performance of efficient buffering, stable supporting, adaptable to various terrain and repeated landing and launching under conditions of weak gravity, unknown terrain and soil property. This study includes: 1) effect of engine thrust, pose and stiffness of the landing gear on the landing stability;2) design method for stiffness landing gear via changing configuration, pose and components. 3) design of the prototype and experiment. This study plans to develop variable pose and stiffness landing gear to address the problem of generating destructive force on touchdown, unable to provide stable support after landing and conflicted performance stiffness requirement with repeated landing and launching. This study will enrich the design theory for modern space mechanisms and provide theoretical reference for Chinese small celestial body detection mission.