Task-Oriented Topology System Synthesis of Reconfigurable Legged Mobile Lander Integrating Active and Passive Metamorphoses

Abstract To explore hostile extraterrestrial landforms and construct an engineering prototype, this paper presents the task-oriented topology system synthesis of reconfigurable legged mobile lander (ReLML) with three operation modes from adjusting, landing, to roving. Compared our preceding works, adjusting mode rotations (3R) provides a totally novel exploration approach geometrically matching securely arriving at complex terrains dangerous visit currently; landing is redefined by two one translation (2R1T), identical tried-and-tested Apollo Chang’E landers enhance survivability via reasonable touchdown buffering motion; roving also utilizes 2R1T motion for good force properties. The mechanism theory first brought into synthesizing integrating active passive metamorphoses, composed types metamorphic joints execution transmission mechanisms. reveal principles multiple finite motions, screw developed present procedure unified mathematical representation, source phase derivations, joint limb design, final structure assembly. identify prototype topology, 3D optimal selection matrix method proposed considering modes, five evaluation criteria, topological subsystems. Finally, simulation verifies whole task implementation process ensure reasonability design.