Type Synthesis of a Legged Mobile Lander Based on a Given Truss

摘要

The existing mode for exploratory mission of extraterrestrial body has some limitations of the exploratory range. In order to widen the exploratory range, a lander is expected to walk, i.e., it will be a robot with the features of lander and rover. Furthermore, one of the most challenges to design the robot is to deal with the contradiction of degree of freedom (DoF) during different phase: during landing phase, the lander is regarded as a truss or structure without motion, while during walking phase, the lander is regarded as a mechanism with particular motions. In this paper, a general approach of type synthesis of mechanisms generated from a given truss is investigated. Adopting this approach, numerous structures of legged mobile landers are obtained.