Topological design of a new family of legged mobile landers based on Truss-Mechanism Transformation method

Lin, Rongfu; Guo, Weizhong; Zhao, Changjie; Tang, Youyuan; Zhao, Chenyao; Li, Ziyue

doi:10.1016/j.mechmachtheory.2020.103787

Cited by 14 publications

(2 citation statements)

References 17 publications

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“…A legged mobile lander using four identical 2-UPS&UP parallel mechanism was designed by Lin et al [20], which integrated the functions of landing, walking, deploying, and orientation adjusting. To improve the landing impact performance of a movable lander, Zhou et al [21] proposed a newly designed gradual energyabsorbing structure subjected to impact loads. Lin et al [22,23] addressed a novel synthesis method for legged mobile landers using truss-mechanism transformation based on the structure of Chang'e lander.…”

Section: Introductionmentioning

confidence: 99%

Landing control method of a lightweight four-legged landing and walking robot

Yin

Gao

et al. 2022

Front. Mech. Eng.

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The prober with an immovable lander and a movable rover is commonly used to explore the Moon’s surface. The rover can complete the detection on relatively flat terrain of the lunar surface well, but its detection efficiency on deep craters and mountains is relatively low due to the difficulties of reaching such places. A lightweight four-legged landing and walking robot called “FLLWR” is designed in this study. It can take off and land repeatedly between any two sites wherever on deep craters, mountains or other challenging landforms that are difficult to reach by direct ground movement. The robot integrates the functions of a lander and a rover, including folding, deploying, repetitive landing, and walking. A landing control method via compliance control is proposed to solve the critical problem of impact energy dissipation to realize buffer landing. Repetitive landing experiments on a five-degree-of-freedom lunar gravity testing platform are performed. Under the landing conditions with a vertical velocity of 2.1 m/s and a loading weight of 140 kg, the torque safety margin is 10.3% and 16.7%, and the height safety margin is 36.4% and 50.1% for the cases with or without an additional horizontal disturbance velocity of 0.4 m/s, respectively. The study provides a novel insight into the next-generation lunar exploration equipment.

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Section: Introductionmentioning

confidence: 99%

Landing control method of a lightweight four-legged landing and walking robot

Yin

Gao

et al. 2022

Front. Mech. Eng.

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“…Lin discussed the conceptual design, 24 topological design 25 and type synthesis 2 of legged mobile lander . Han reported the methods for dimensional design 26 and synthesis 27 of the cantilever-type legged lander. Whereas all these mobile landers have not completed the prototype design, and their soft-landing performances need be further tested.…”

Section: Introductionmentioning

confidence: 99%

Lunar surface soft-landing analysis of a novel six-legged mobile lander with repetitive landing capacity

Yin

Sun

Gao

et al. 2021

Proceedings of the Institution of Mechanical Engineers, Part C:

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The autonomous robots consisting of an immovable lander and a rover are widely deployed to explore extraterrestrial planets. Two main drawbacks limit the development of this cooperative work mode: (1) it cannot perform soft-landing missions repeatedly on the planet, owing to the damage of buffer structure during soft-landing. (2) the rover’s detection area is restricted to the vicinity of the immovable lander. To overcome these problems, we have designed an innovative six-legged mobile lander with repetitive landing capacity, called “HexaMRL”, which integrates the functions of a lander and a rover including folding, deploying, repetitive landing, and walking. This novel robot’s legs adopted hybrid mechanism with active and passive compliance. Therefore, it remains to be a great challenge to analyze the robot soft-landing capacity which is determined by the parameters such as spring stiffness coefficient, damper damping coefficient, and initial tiptoe position. In order to solve the problem, the dynamic modeling and assessment criteria were established. The soft-landing process was analyzed through three numerical simulations using three sets of representative parameters based on dynamic model and the set of best effective parameters was chosen to apply in soft-landing experiment on a 5-DOF lunar gravity testing platform (5-DOF LGTP). The experiments were further verified that the selected parameters met the requirement of soft landing on the lunar surface. The HexaMRL provides novel insight for the next generation equipment for lunar exploration, which may be an efficient solution to the extraterrestrial planet exploration.

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