The weightless environment causes difficulties for anchoring and sampling in asteroid exploration. In this paper, we present the analyses of the anchoring and sampling processes of a landing robot to deal with the difficulties. The mechanism and electrical system of the robot are introduced. The robot is composed of a body, three landing legs, three anchoring legs, one sampling arm, three reverse thrusters, a sensing system, and a control system. Diamond cutting discs are installed at the end of the anchoring legs and sampling arm for penetrating the rock surface of asteroids in anchoring and sampling. After anchoring on the surface by using the anchoring legs, the robot can sample hard rock material via the sampling arm. The robot could sample a 13.86 cm <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">3</sup> rock piece at one time if the diameter of the cutting disc is 6 cm. The motion control results of the anchoring leg are also given. The results of this paper show the possibility of anchoring and sampling by using only one robot.
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