Studying the landing of a legged probe on asteroids with widely distributed rocks is of great significance. However, the landing safety of legged probes with flexible appendages (solar panels and touchdown legs) on the rocky terrain of asteroids is still unclear. In this study, we establish a complete rigid-flexible coupling touchdown dynamics model for an asteroid probe, and propose a new method for constructing locally refined rocky terrain. Moreover, two criteria for safe touchdown of the probe are established. Monte Carlo simulations are performed to analyze the landing success probability of the probe on different locally refined rocky terrains. The validity of the rock generation method and safety assessment is confirmed through repeated landing simulations. The simulation results show that the effect of the flexible appendages on the probe landing process cannot be ignored. With the same propulsion force of the probe, the landing success probability first increases and then decreases with increasing probe mass. Based on the original terrain, increases in rock size, quantity and power- index lead to the increase of the root-mean-square (RMS) height and RMS slope of rocky terrain, and then cause a decrease in the landing success probability of the legged probe. The results are expected to provide guidance for asteroid touchdown missions.
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