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Dimensional Synthesis of the reconfigurable legged mobile lander with multi-mode and complex mechanism topology
Mechanism and Machine Theory ( IF 5.2 ) Pub Date : 2021-01-01 , DOI: 10.1016/j.mechmachtheory.2020.104097
Youcheng Han , Weizhong Guo , Zekun Peng , Mingda He , Feng Gao , Jianzhong Yang

Abstract The reconfigurable legged mobile lander (ReLML) integrates both landing and walking modes, promising to be employed in the future extraterrestrial exploration as a counterpart of lander and rover. To tackle the optimization challenge that the ReLML possesses sixteen design parameters with multi-mode and complex mechanism topology: (1) this study firstly presents a systematic optimum dimension design strategy named after multi-mode synergistic optimization (MMSO), utilizing the functional sequences and kinematic decoupling to simplify the complex optimization issue into sub-issues of sub-mechanisms in sub-modes from landing to walking. After employing the design space dimensionality-reduction method (DSDRM), the metamorphic execution mechanism, overall lander, and multi-mode transmission mechanism are optimized successively; (2) then, four optimization models are established for the optimal comprehensive performance demands of landing and walking modes. To improve the performance chart-based design methodology (PCbDM) limiting at most four parameters, the DSDRM-based PCbDM is implemented for the global visualized optimization by four iterations of PCbDM. Finally, all global optimum dimensions of ReLML are identified. This work can also provide references for the dimensional synthesis of metamorphic mechanism, multi-mode mechanism, and reconfigurable mechanism.

中文翻译:

具有多模复杂机构拓扑结构的可重构腿式移动着陆器的三维综合

摘要 可重构腿式移动着陆器(ReLML)集成了着陆和行走两种模式,有望作为着陆器和漫游车的对应物用于未来的外星探索。为了解决 ReLML 具有 16 个多模和复杂机构拓扑结构的设计参数的优化挑战:(1)本研究首先提出了一种以多模协同优化(MMSO)命名的系统优化尺寸设计策略,利用功能序列和运动学解耦将复杂的优化问题简化为从着陆到行走的子模式中子机制的子问题。采用设计空间降维方法(DSDRM)后,依次优化了变形执行机制、整体着陆器、多模传输机制;(2) 那么,针对着陆和行走模式的最佳综合性能需求,建立了四个优化模型。为了改进基于性能图的设计方法 (PCbDM) 限制最多四个参数,基于 DSDRM 的 PCbDM 通过四次 PCbDM 迭代实现全局可视化优化。最后,确定了 ReLML 的所有全局最优维度。该工作也可为变形机构、多模机构和可重构机构的维度综合提供参考。最后,确定了 ReLML 的所有全局最优维度。该工作也可为变形机构、多模机构和可重构机构的维度综合提供参考。最后,确定了 ReLML 的所有全局最优维度。该工作也可为变形机构、多模机构和可重构机构的维度综合提供参考。
更新日期:2021-01-01
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