The lander has made a significant contribution to soft landings and exploration of an extraterrestrial surface. To further expand its detection range and meet the needs of base construction in the future, it is necessary to design a legged mobile lander (LML) that lets the fixed lander walk. In this paper, a decoupled functions synthesis method (DFSM), which means the decoupled landing and walking functions for LMLs, is proposed: it uses separate structures of landing leg (LL) and walking leg (WL) to perform landing and walking functions. The structure of the Chang’e lander’s leg is selected and designed as the LL. The structures of WLs are determined and presented by the Lie group type synthesis method. In accordance with the combination principle, the landing-walking leg (LWL) for LMLs is designed by combining the structures of a LL and a WL. The structures of a family of LMLs are achieved by assembling the same or different structures of legs. Furthermore, the actuated joints are assigned according to the principle for selecting the actuated joint and one case of LWL is selected as an optimized type by the qualitative evaluation. Finally, one leg of LMLs is taken as an example to analyze the properties and abilities during different stages.

着陆器为软着陆和探索地球外表面做出了重大贡献。为了进一步扩大其检测范围并满足未来基地建设的需求，有必要设计一种让固定着陆器行走的有腿可移动着陆器（LML）。在本文中，提出了一种解耦函数综合方法（DFSM），这意味着LML的着陆和行走功能已解耦：它使用着陆腿（LL）和行走腿（WL）的独立结构来执行着陆和行走功能。选择the娥号着陆器的腿部结构并将其设计为LL。WL的结构是由李群类型合成方法确定并提出的。根据组合原理，通过将LL和WL的结构进行组合来设计LML的着陆行走支腿（LWL）。LML系列的结构是通过组装相同或不同的支腿结构来实现的。此外，根据用于选择致动关节的原理来分配致动关节，并且通过定性评估来选择一种LWL情况作为优化类型。最后，以一条LML为例，分析了不同阶段的特性和能力。