Novel design of a family of legged mobile landers based on decoupled landing and walking functions
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DOI 10.1007/s12206-020-0832-x
Journal of Mechanical Science and Technology 34 (9) 2020 Original Article DOI 10.1007/s12206-020-0832-x Keywords: · Decoupled functions · Legged mobile lander · Motion characteristic · Novel design
Correspondence to: Weizhong Guo [email protected]
Citation: Lin, R., Guo, W. (2020). Novel design of a family of legged mobile landers based on decoupled landing and walking functions. Journal of Mechanical Science and Technology 34 (9) (2020) 3815~3822. http://doi.org/10.1007/s12206-020-0832-x
Received July 19th, 2019 Revised
April 4th, 2020
Accepted June 22nd, 2020 † Recommended by Editor Ja Choon Koo
Novel design of a family of legged mobile landers based on decoupled landing and walking functions Rongfu Lin and Weizhong Guo State Key Laboratory of Mechanical Systems and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China
Abstract
The lander has made a significant contribution to soft landings and exploration of an extraterrestrial surface. To further expand its detection range and meet the needs of base construction in the future, it is necessary to design a legged mobile lander (LML) that lets the fixed lander walk. In this paper, a decoupled functions synthesis method (DFSM), which means the decoupled landing and walking functions for LMLs, is proposed: it uses separate structures of landing leg (LL) and walking leg (WL) to perform landing and walking functions. The structure of the Chang’e lander’s leg is selected and designed as the LL. The structures of WLs are determined and presented by the Lie group type synthesis method. In accordance with the combination principle, the landing-walking leg (LWL) for LMLs is designed by combining the structures of a LL and a WL. The structures of a family of LMLs are achieved by assembling the same or different structures of legs. Furthermore, the actuated joints are assigned according to the principle for selecting the actuated joint and one case of LWL is selected as an optimized type by the qualitative evaluation. Finally, one leg of LMLs is taken as an example to analyze the properties and abilities during different stages.
1. Introduction
© The Korean Society of Mechanical Engineers and Springer-Verlag GmbH Germany, part of Springer Nature 2020
The exploration mission of extraterrestrial bodies, such as the Moon, Mars and other asteroids, is an important strategy for deep space exploration. In the current space exploration mission, the combination of a legged stationary lander (LSL) and a rover is mainly used for landing and exploring the extraterrestrial surface [1]. Up to now, the “circling” and “landing” missions of the Moon have been based on this combination of a fixed landing and rover. Furthermore, in this mode, the lander has two important tasks: to help the rover to soft land on the extraterrestrial bodies’ surface, and to perform on-site exploration at the landing site. Meanwhile, the rover mainly executes major exploration and investigation around the landing site. This ex
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