Research Papers

Novel Design of Legged Mobile Landers With Decoupled Landing and Walking Functions Containing a Rhombus Joint

[+] Author and Article Information
Rongfu Lin

State Key Laboratory of Mechanical Systems
and Vibration,
School of Mechanical Engineering,
Shanghai Jiao Tong University,
800 Dongchuan Road,
Shanghai 200240, China
e-mail: rongfulin@sjtu.edu.cn

Weizhong Guo

State Key Laboratory of Mechanical Systems
and Vibration,
School of Mechanical Engineering,
Shanghai Jiao Tong University,
800 Dongchuan Road,
Shanghai 200240, China
e-mail: wzguo@sjtu.edu.cn

Meng Li

State Key Laboratory of Mechanical Systems
and Vibration,
School of Mechanical Engineering,
Shanghai Jiao Tong University,
800 Dongchuan Road,
Shanghai 200240, China
e-mail: noray@sjtu.edu.cn

1Corresponding author.

Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANISMS AND ROBOTICS. Manuscript received December 29, 2017; final manuscript received June 26, 2018; published online August 24, 2018. Assoc. Editor: Leila Notash.

J. Mechanisms Robotics 10(6), 061017 (Aug 24, 2018) (14 pages) Paper No: JMR-17-1446; doi: 10.1115/1.4040884 History: Received December 29, 2017; Revised June 26, 2018

During extraterrestrial planetary exploration programs, autonomous robots are deployed using a separate immovable lander and rover. This mode has some limitations. In this paper, a concept of a novel legged robot with decoupled functions was introduced that has inbuilt features of a lander and rover. Currently, studies have focused mainly on performance analysis of the lander without a walking function. However, a systematic type synthesis of the legged mobile lander has not been studied. In this paper, a new approach to the type synthesis used for the robot was proposed based on the Lie group theory. The overall concept and design procedure were proposed and described. The motion requirements of the robot and its legs were extracted and described intuitively. The layouts of the subgroups or submanifolds of the limbs were determined. A family of particular joints with one rotation and one translation was proposed for the first time. The structures of the limbs were synthesized. Numerous structures of the legs were produced and listed corresponding to the desired displacement manifolds. Numerous novel structures of the legs for legged mobile lander were evaluated and listed. Then, four qualitative criteria were introduced. Based on the proposed criteria, a particular case of legs' configuration with a rhombus joint was selected as the best one among them. A typical structure of the legged mobile lander was obtained by assembling the structures of the proposed legs with a rhombus joint. Finally, the typical robot was used as an example to verify the capabilities of the novel robot using a software simulation (adams).

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Grahic Jump Location
Fig. 1

Concept of constructing a legged mobile lander

Grahic Jump Location
Fig. 2

Motion requirements corresponding to the five functions: (a) deployable function, (b) landing buffer function, (c) walking function, (d) orientation adjustment, (e) terrain adaptability, and (f) integration

Grahic Jump Location
Fig. 3

Equivalent motion requirements of rigid body mapping walking function (3D translations of a point): (a) {R(A,u)}{R(A,v)}{T(w)}, (b) {R(A,u)}{T(w)}{R(B,v)}, (c) R(A,u)}{T(v)}{T(u)}, (d) {R(A,u)}{R(A,v)}{R(B,w)}, (e) {C(A,u)} {R(B,u)} (f) {C(A,u)}{T(w)}, (g) {R(A,u)}{C(B,u)}, and (h) {R(A,u)}{U(B,u,v)}

Grahic Jump Location
Fig. 4

Motion requirements of the legged mobile lander: (a) global motion characteristics, (b) local motion characteristics, (c) lower part of the leg, and (d) upper part of the leg

Grahic Jump Location
Fig. 5

Arrangements of the subgroups or submanifolds of the limbs: (a) case I {1}∩{2}∩{6}, (b) case II {1}e IIment, (c) case III {1}∩{5}∩{6}, (d) case IV {1}∩{6}∩{6}, (e) {2}∩{2}∩{2}, (f) {2}∩{2} ∩{4}, (g) {2}∩{2}∩{5}, (h) {2}∩{2}∩{6}, (i) {2}∩{5}∩{5}, (j) {2}∩{5} ∩{6}, (k) {5}∩{5}∩{5}, and (l) {5}∩{5}∩{6}

Grahic Jump Location
Fig. 6

Six particular Rh joints with {R(A,v)}{T(w)}: (a) Rh-1, (b) Rh-2, (c) Rh-3, (d) Rh-4, (e) Rh-5, and (f) Rh-6

Grahic Jump Location
Fig. 7

Motion transformation from {R(N,v)}{T(w)} to {R(N,v)} of the Rh joint

Grahic Jump Location
Fig. 8

Some typical structures of legs: (a) case I: UP&URR&URS, (b) case II: UP&URU&URS, (c) case III: UP&SRR &URS, and (d) case IV: RRh&2-RUS

Grahic Jump Location
Fig. 9

Typical structure of the legs with the Rh joint

Grahic Jump Location
Fig. 10

Typical structure of the legged mobile landers with symmetrical legs: (a) front view and (b) top view

Grahic Jump Location
Fig. 15

Terrain adaptability of the mobile lander

Grahic Jump Location
Fig. 12

One gait of the legged mobile lander

Grahic Jump Location
Fig. 13

Robot walking simulation

Grahic Jump Location
Fig. 14

Orientation adjustment of the mobile lander

Grahic Jump Location
Fig. 11

Three statuses of the mobile lander and its leg: (a) in the deployed position, (b) in the stowed position, and (c) in the walking position



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