Novel Design of the Actuation-Transmission System for Legged Mobile Lander Considering Large Impact
Landing and mobile exploration on the Moon and Mars has become a hot research topic recently. As a new exploration strategy, our previous work proposed the idea of the robot integrated with landing and walking functions, without taking the installation position of the motor into consideration. However, in the worst case, the motor will get damaged by the large landing impact if it’s installed on the execution mechanism directly. Hence, the paper will investigate the novel design method of the actuation-transmission system (ATS) for the legged mobile lander (LML), to guarantee the reliable implementation of the robot’s walking function. After abstracting the execution limb and the transmission mechanism to the equivalent parallel mechanism (EPM), the displacement manifold synthesis method is used for the topology design of the novel LML, and many results are obtained. At last, a case study shows that the novel robot with ATS has both good landing and walking configurations, and reliable configuration transformation with reasonable topological structure.
KeywordsLegged Mobile Lander Actuation-Transmission System Equiva-lent Parallel Mechanism
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The author thanks the financial supports under the projects from the National Natural Science Foundation of China (Grant No. 51735009) and the Research Fund of State Key Lab of MSV, China (Grant No. MSV-ZD-2016-08).
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