Abstract
Legged mobile landers are an emerging technology with the potential to transform future extraterrestrial missions due to their ability to maneuver on uneven terrains after landing. One of the most critical steps before fabricating such expensive robotic systems, following mechanism analysis and CAD design, is dimensional synthesis. Due to the inherent complexity of legged mobile landers, which involve intricate and multimode mechanisms, performing dimensional synthesis is a challenging task. In this study, a comprehensive dimensional synthesis is carried out for a RRR-type legged mobile lander operating in multimode, using performance atlases. An integrated optimization framework strategy comprising optimization of structural parameters and performance indices is used to optimize the landing leg, overall lander configuration, and roving leg. Apart from the dimension synthesis of novel topology of LML, one of the key contributions of this paper is the consideration of deformable dampers as structural elements during the dimensional synthesis process. By systematically evaluating and designing these parameters, the study aims to achieve an efficient design that enhances launch efficiency and lander’s performance and stability during both landing and roving modes.
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