Type Synthesis of a Legged Mobile Lander Based on a Given Truss

  • Rongfu LinEmail author
  • Weizhong Guo
Conference paper
Part of the CISM International Centre for Mechanical Sciences book series (CISM, volume 584)


The existing mode for exploratory mission of extraterrestrial body has some limitations of the exploratory range. In order to widen the exploratory range, a lander is expected to walk, i.e., it will be a robot with the features of lander and rover. Furthermore, one of the most challenges to design the robot is to deal with the contradiction of degree of freedom (DoF) during different phase: during landing phase, the lander is regarded as a truss or structure without motion, while during walking phase, the lander is regarded as a mechanism with particular motions. In this paper, a general approach of type synthesis of mechanisms generated from a given truss is investigated. Adopting this approach, numerous structures of legged mobile landers are obtained.


Type synthesis Parallel mechanism Legged mobile lander  Truss 



The author thanks the partial financial supports under the projects from the National Natural Science Foundation of China (Grant No. 51735009, 51323005) and the Research Fund of State Key Lab of MSV, China (Grant No. MSV-ZD-2016-08).


  1. 1.
    Donahue, B.B., Caplin, G., Smith, D.B., Behrens, J.W., Maulsby, C.: Lunar lander concepts for human exploration. J. Spacecr. Rockets 45, 383–393 (2008)CrossRefGoogle Scholar
  2. 2.
    Estier, T., Crausaz, Y., Merminod, B., Lauria, M., Piguet, R., Siegwart, R.: An innovative space rover with extended climbing abilities. Space Robot. 36, 333–339 (2000)Google Scholar
  3. 3.
    Li, Q., Huang, Z., Herve, J.M.: Type synthesis of 3R2T 5-DOF parallel mechanisms using the Lie group of displacements. Autom. IEEE Trans. Robot. 20, 173–180 (2004)CrossRefGoogle Scholar
  4. 4.
    Gao, F., Li, W., Zhao, X., Jin, Z., Zhao, H.: New kinematic structures for 2-, 3-, 4-, and 5-DOF parallel manipulator designs. Mech. Mach. Theory 37, 1395–1411 (2002)CrossRefGoogle Scholar
  5. 5.
    Lin, R.F., Guo, W.Z., Gao, F.: Type synthesis of a family of Novel 4-, 5- and 6-DOF sea lion ball mechanisms with three limbs. J. Mech. Robot. 8, 021023-1-15 (2016)CrossRefGoogle Scholar
  6. 6.
    Pellegrino, S., Calladine, C.R.: Matrix analysis of statically and kinematically indeterminate frameworks. Int. J. Solids Struct. 22(4), 409–428 (1986)CrossRefGoogle Scholar

Copyright information

© CISM International Centre for Mechanical Sciences 2019

Authors and Affiliations

  1. 1.State Key Laboratory of Mechanical Systems and Vibration, School of Mechanical EngineeringShanghai Jiao Tong UniversityShanghaiChina

Personalised recommendations