A new dimension design method for the cantilever-type legged lander based on truss-mechanism transformation. (December 2019)

• Record Type: Journal Article
• Authors: Han, Youcheng; Guo, Weizhong; Gao, Feng; Yang, Jianzhong
• Is Part Of: Mechanism and machine theory. Volume 142(2019)
• Publication Date: 2019-12
• Subjects: Legged lander -- Dimension design -- Optimization design -- Performance atlas -- Truss-mechanism transformation; CTLL cantilever-type legged lander -- TMTM truss-mechanism transformation method -- DSDRM design space dimensionality reduction method -- PCbDM performance-chart based design methodology -- DOF degree of freedom -- COG center of gravity -- WVI workspace volume index -- GCI global conditioning index -- GTI global transmission index -- GPI global payload index -- GSI global stiffness index -- GLSI global landing stability index -- FASM force-angle stability measure; Machine theory -- Periodicals; Machinery -- Periodicals; Machines -- Périodiques; Génie mécanique -- Périodiques; Machine theory; Machinery; Periodicals; 621.81
• DOI: 10.1016/j.mechmachtheory.2019.103611
• Languages: English
• ISSNs: 0094-114X

Abstract

Abstract: The cantilever-type legged lander (CTLL) is widely used in many extraterrestrial exploration activities, owing to the good buffering stability, large support stiffness, and excellent payload capacity. The paper will focus on the following two important and challenging aspects for its optimum dimension design: (1) One is to build a reliable and comprehensive optimization design model for the CTLL, including the optimization parameters of the topological structure, the performance indices of the landing behavior, and the constraint conditions of both landing stability and workspace; (2) The other aspect is to develop a systematic strategy to optimize both landing leg and overall lander respectively based on the optimization design model above. The paper proposes the truss-mechanism transformation method (TMTM) to optimize the truss structure of the CTLL in the view of mechanisms and robotics with kinematics and dynamics characteristics. Furthermore, the design space dimensionality reduction method (DSDRM) is proposed for the multi-parameter optimization problem and develops the performance-chart based design methodology (PCbDM) as well. The paper can help one understand the relationship between different dimensions and the corresponding performances, and obtain the global optimum dimensions for both landing leg and overall lander.