Abstract
Based on the traditional four-legged landing buffer mechanism, a buffer mobile integration mechanism with landing cushioning and active movement is proposed, providing the moving capability of the lunar surface for the large mass lander of more than 1 ton. The mobile planning strategy is designed and a mobile gait planning method is provided. The kinematics model of the mechanism is established, and the movement performance of the four-leg parallel system in a symmetrical standing posture is analyzed. As for the gravity center offset of the lander, an adjustment method for the asymmetric standing posture of the four legs is proposed, and the movement characteristics of the lander after applying this method are further analyzed. The results show that the lander can successfully move uphill, flat, and downhill, solving the problem of omnidirectional movement under the uncertainty of landing terrain and orientation. The proposed buffer mobile mechanism and the adjustment method for an asymmetric standing posture of four legs provide support for future catalog buffering movement detection tasks.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Zhu, W., Zeng, F., Man, J., et al.: Touchdown stability simulation of landing gear system for lunar lander. J. Astronaut. 30(5), 1792–1796 (2009). (in Chinese)
Yang, J., Man, J., Zeng, F., et al.: Achievements and applications of landing gear for chang’e-3 lander. Spacecraft Recovery Remote Sens. 6, 20–27 (2014). (in Chinese)
Zeng, F., Yang, J., Man, J., et al.: Study on design method of landing gear for lunar lander. Spacecraft Eng. 2, 46–51 (2011). (in Chinese)
Zeng, F., Yang, J., Zhu, W., et al.: Achievements and applications of landing gear for chang’e-3 lander. Spacecraft Eng. 19(5), 43–49 (2010). (in Chinese)
Bridenstine, J.: NASA’s Lunar Exploration Program Overview [EB/OL]. NASA, 2020[2020–9]. https://www.nasa.gov/sites/default/files/atoms/files/artemisplan-20200921.pdf
Mahoney, E.: NASA’s new spaceship[EB/OL]. NASA, 2018[2018–12–10]. https://www.nasa.gov/feature/ questions-na-sas-new-spaceship.
Lund, T.: Lunar Roving Vehicle and Exploration of the Moon: Ranger to Apollo, Luna to Lunniy Korabl (2018)
Han, Y., Guo, W., Gao, F., Yang, J.: A new dimension design method for the cantilever-type legged lander based on truss-mechanism transformation. Mech. Mach. Theory 142(12), 103611 (2019)
Han, Y., Guo, W., Peng, Z., He, M., Gao, F., Yang, J.: Dimensional synthesis of the reconfigurable legged mobile lander with multi-mode and complex mechanism topology. Mech. Mach. Theory 155(1), 104097 (2021)
Tian, X., Gao, F., Chen, X., et al.: Mechanism design and comparison for quadruped robot with parallel-serial Leg. J. Mech. Eng. 49(6), 81–87 (2013). (in Chinese)
Guo, W., Tang, Y., Gao, F., et al.: Topology matrix method for gait generation of wheel-legged robots. J. Mech. Eng. 53(21), 1–8 (2017). (in Chinese)
Gao, F., Yin, K., Sun, Q., et al.: Design and control of legged leaping robot in lunar exploration. Fllight Control $ Detect. 3(4), 1–7 (2020). (in Chinese)
Park, J., Kim, K.S., Kim, S.: Design of a cat-inspired robotic leg for fast running. Adv. Robot. 28(23), 1587–1598 (2014). (in Chinese)
Zhang, Z., Liang, L., Guo, L., et al.: Conceptual design of manned lunar lander with wheel-legged mobile system. Manned Spaceflight 22(2), 202–209 (2016)
Liang, L., Zhang, Z., Guo, L., et al.: Task analysis of mobile lunar lander in crewed lunar exploration missions. Manned Spaceflight (05), 472–478 (2015) (in Chinese)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2023 The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.
About this paper
Cite this paper
Liu, W., Chen, Z., Yang, F., Zhao, Y., Yang, J., Gao, F. (2023). Movement Analysis of a Landing Buffer Mobile Mechanism with Eccentric Load. In: Yang, H., et al. Intelligent Robotics and Applications. ICIRA 2023. Lecture Notes in Computer Science(), vol 14271. Springer, Singapore. https://doi.org/10.1007/978-981-99-6495-6_47
Download citation
DOI: https://doi.org/10.1007/978-981-99-6495-6_47
Published:
Publisher Name: Springer, Singapore
Print ISBN: 978-981-99-6494-9
Online ISBN: 978-981-99-6495-6
eBook Packages: Computer ScienceComputer Science (R0)