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20 September 2022 Design and kinematics analysis of buffering/walking integrated lunar-based equipment
Tianyu He, Yang Dong, Junpeng Zhao, Chunjie Wang
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Proceedings Volume 12261, International Conference on Mechanical Design and Simulation (MDS 2022); 122613F (2022) https://doi.org/10.1117/12.2638878
Event: Second International Conference on Mechanical Design and Simulation (MDS 2022), 2022, Wuhan, China
Abstract
A legged lunar-based equipment (LBE) with buffering and walking capabilities is proposed according to the requirements of complex tasks on the lunar surface. The design and function realization principle of the RU-2RUS parallel leg are introduced, and the multi-state pose is designed. The kinematics model of a single chain is constructed by using the improved DH method. The kinematics of the mechanism is solved through the geometric relationship. Then, the single-leg workspace is obtained and analyzed to verify the rationality of the configuration. The results show that the motion range is large, and the adjustment required for state switching is minor. It can provide a feasible lunar-based equipment design scheme for lunar surface stable landing, material transfer, multipoint detection, and base construction.
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Tianyu He, Yang Dong, Junpeng Zhao, and Chunjie Wang "Design and kinematics analysis of buffering/walking integrated lunar-based equipment", Proc. SPIE 12261, International Conference on Mechanical Design and Simulation (MDS 2022), 122613F (20 September 2022); https://doi.org/10.1117/12.2638878
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KEYWORDS
Kinematics
Analytical research
Gait analysis
Aerospace engineering
Robots
Space operations
Scientific research
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