Abstract To meet the needs of the “Returning” and “Base construction” missions of the extraterrestrial body's exploration task, it is necessary to enable the legged stationary lander (LSL) to walk, i.e., it is important and imperative to design novel legged mobile landers (LMLs). This paper aims to address a novel synthesis method based on Truss-Mechanism Transformation (called as TMT method) for LMLs with the capabilities of trusses and mechanisms during different phases. The overall topological design concept and procedure of TMT method are proposed. Based on the extract rules and intersection operations of the motions, the motion requirements for TMT method are obtained. The number condition, the relationship among motions and the methods for allocating the motions in the truss for TMT method are proposed. Some qualitative evaluations are also proposed. By means of this method, numerous structures of LMLs based on the structure of Chang'e lander are synthesized. Finally, after type evaluation, two typical LMLs’ legs with transmission limbs or electronic bolts are taken as examples to analyze the properties and abilities of LMLs during different phases. The TMT method is universal and effective for topological design of robots which can transform between truss and mechanism.

中文翻译：

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基于Truss-Mechanism Transformation方法的新型腿式移动着陆器族拓扑设计

摘要 为满足地外天体探测任务“返回”和“基地建设”任务的需要，需要使腿式固定着陆器（LSL）能够行走，即设计新颖的腿式移动着陆器是非常重要和势在必行的。着陆器（LML）。本文旨在解决一种基于桁架机构变换（称为 TMT 方法）的新型合成方法，用于 LML，具有桁架和机构在不同阶段的能力。提出了TMT方法的总体拓扑设计理念和流程。根据运动的提取规则和交集操作，得到TMT方法的运动要求。提出了TMT方法的数量条件、运动之间的关系以及桁架中运动的分配方法。还提出了一些定性评价。通过这种方法，合成了多种基于嫦娥着陆器结构的LMLs结构。最后，经过型式评估，以两个典型的带传动臂或电子螺栓的LML腿为例，分析了LML在不同阶段的特性和能力。TMT方法对于可在桁架和机构之间转换的机器人拓扑设计具有通用性和有效性。