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Type synthesis of legged mobile landers with one passive limb using the singularity property

机译：利用奇异特性对具有一个被动肢体的腿式可移动着陆器进行类型合成

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During extraterrestrial planetary exploration programs, autonomous robots are deployed using a separate immovable lander and a rover. This mode has some limitations. In this paper, a concept of a novel legged robot with one passive limb and singularity property is introduced that has inbuilt features of a lander and a rover. Currently, studies have focused primarily on a performance analysis of the lander without a walking function. However, a systematic type synthesis of the legged mobile lander has not been studied. In this study, a new approach to the type synthesis used for the robot is proposed based on the Lie group theory. The overall concept and design procedures are proposed and described. The motion requirements of the robot and its legs, which are corresponding to the multi-function, are extracted and described. The layouts of the subgroups or submanifolds of the limbs are determined. The structures of the passive and actuated limbs are synthesized. Numerous structures of the legs with a passive limb are produced and listed corresponding to the desired displacement manifolds. Numerous novel structures of legs for the legged mobile lander are presented and listed. Then, four qualitative criteria or indexes are introduced. Based on the proposed criteria, a leg's configuration is selected as the best. A typical structure of the legged mobile lander is obtained by assembling the structures of the proposed legs. Finally, the typical robot is used as an example to verify the capabilities of the novel robot using a software simulation (ADAMS).
机译：在地球外行星探索计划中，将使用单独的不动着陆器和流动站来部署自主机器人。此模式有一些限制。在本文中，介绍了一种具有一个被动肢体和奇点特性的新型腿式机器人的概念，该机器人具有着陆器和流动站的内在特征。当前，研究主要集中在着陆器不具有行走功能的性能分析上。但是，尚未研究腿式移动着陆器的系统类型综合。在这项研究中，基于李群理论，提出了一种用于机器人类型综合的新方法。提出并描述了总体概念和设计程序。提取并描述了与多功能对应的机器人及其腿部的运动要求。确定肢体的子组或子流形的布局。被动和驱动肢体的结构被合成。产生并列出了具有被动肢体的腿的多种结构，对应于所需的位移歧管。提出并列出了腿式活动着陆器的许多新颖的腿部结构。然后，介绍了四个定性标准或指标。根据建议的标准，选择一条腿的配置为最佳。腿式活动着陆器的典型结构是通过组装建议的腿的结构而获得的。最后，以典型的机器人为例，通过软件仿真（ADAMS）验证新型机器人的功能。

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