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research-article

Novel Design of Legged Mobile Lander with Decoupled Landing and Walking Functions and Singularity Property

[+] 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
rongfulin@sjtu.edu.cn

W. Z. Guo

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

1Corresponding author.

ASME doi:10.1115/1.4040884 History: Received December 29, 2017; Revised June 26, 2018

Abstract

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

Copyright (c) 2018 by ASME
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