Type synthesis of legged mobile landers with multi-loop mechanisms

The combination mode of a fixed lander and a rover is the main pattern of the exploration program which limits the exploratory range. In order to overcome this limitation, a lander is expected to walk so as to have multi-functions. This paper presents a systematic design method for the legged mobile landers with multi-loop mechanism. Firstly, the topological arrangements and presentations of a truss and a mechanism are given. Then, the procedure for type synthesis of multi-loop mechanisms are put forward according to the topological arrangements. Finally, adopting the procedure, two kinds of typical configurations of legged mobile landers's legs are obtained.