Dimensional Synthesis of the reconfigurable legged mobile lander with multi-mode and complex mechanism topology

Han, Youcheng; Guo, Weizhong; Peng, Zekun; He, Mingda; Gao, Feng; Yang, Jun

doi:10.1016/j.mechmachtheory.2020.104097

Cited by 34 publications

(8 citation statements)

References 32 publications

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“…The global motion/force transmission index S mg of the VEPM is the integral value of the local motion/force transmission index on the terrain map, as shown in Eq. (13).…”

Section: Motion/force Transmission Analysismentioning

confidence: 99%

“…For alien detectors, Gao et al [13] proposed a four-leg reconfigurable mechanism and optimized the workspace volume [14], the Walking step index [13], the global transfer index [15,16], the global speed index [17], the global load index [18], and the global stiffness index [19] of the mechanism in the landing posture and moving configuration. Lin et al [20] designed a serial of legged mobile landers with a passive limb and singularity property.…”

Section: Introductionmentioning

confidence: 99%

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A new comprehensive performance optimization approach for Earth-contact mechanism based on terrain-adaptability task

Tang

Zhang

2022

Robotica

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Earth-contact mechanism (ECM), a type of mechanism to keep the system in contact with the earth and to move with the terrain changes. This paper uses the virtual equivalent parallel mechanism (VEPM) to convert the terrain data into the kinematical variables of the moving platform in the VEPM, and further analyzes the performance of the VEPM at each terrain point. Then, the comprehensive performance of the VEPM is chosen as the optimization goal, and a task-oriented dimensional optimization approach combined with the particle swarm algorithm and the neural network algorithm is proposed. This paper conducted a comparative experiment to verify the superiority of the new approach in optimizing the ECM’s comprehensive performance, whose performance analysis also can be applied into the layout design of the ECM. This paper proposed an analysis method to construct the ECM’s performance map based on the digital terrain map, which helps the control system and operator to make the optimal control decision.

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“…The global motion/force transmission index S mg of the VEPM is the integral value of the local motion/force transmission index on the terrain map, as shown in Eq. (13).…”

Section: Motion/force Transmission Analysismentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

A new comprehensive performance optimization approach for Earth-contact mechanism based on terrain-adaptability task

Tang

Zhang

2022

Robotica

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“…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. Han et al [24,25] reported the dimensional design and synthesis methods for cantilever-type legged lander using performance atlas.…”

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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“…This work follows the dimensional synthesis of ReLML by multi-mode synergistic optimization (MMSO) [53,54], aiming at studying its singularity and bifurcated evolution for practical application. The sections are arranged are as follows: Sec.…”

Section: Introductionmentioning

confidence: 99%

Singularity Loci, Bifurcated Evolution Routes, and Configuration Transitions of Reconfigurable Legged Mobile Lander From Adjusting, Landing, to Roving

Han

Zhou

Guo

2021

Journal of Mechanisms and Robotics

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This paper presents the reconfigurable legged mobile lander (ReLML) with its modes from adjusting, landing, to roving. Based on the invented metamorphic variable-axis revolute hinge, the actuated link has three alternative phases of rotating around either of two orthogonal topological axes or locking itself to the base as a rigid body. This property enables the ReLML to switch among three modes and within two driving states (as the adjusting and roving modes are active mechanisms driven by motors, while the landing truss is regarded as a passive mechanism driven by the touchdown impact force exerted on footpad). The unified differential kinematics for the ReLML is established by the screw-based Jacobian modeling, unifying both active and passive operation phases throughout all modes. Afterward, the distributions of workspaces and singularity loci in three modes are discussed for the multi-solution sake, and the selection principle of the practicable solution pattern is proposed to obtain the actual workspace, singularity loci, and configurations. The results stemming from the Jacobian-matrix-based method and the Grassmann-geometry-based method give mutual authentication and match well. Finally, as prospects for promising applications, four bifurcated evolution routes and configuration transitions are figured out and compared.

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Dimensional Synthesis of the reconfigurable legged mobile lander with multi-mode and complex mechanism topology

Cited by 34 publications

References 32 publications

A new comprehensive performance optimization approach for Earth-contact mechanism based on terrain-adaptability task

A new comprehensive performance optimization approach for Earth-contact mechanism based on terrain-adaptability task

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

Singularity Loci, Bifurcated Evolution Routes, and Configuration Transitions of Reconfigurable Legged Mobile Lander From Adjusting, Landing, to Roving

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