@inproceedings{85d26a569bff4908919295d0324cf5d0,
title = "Design and kinematics analysis of buffering/walking integrated lunar-based equipment",
abstract = "A legged lunar-based equipment (LBE) with buffering and walking capabilities is proposed according to the requirements of complex tasks on the lunar surface. The design and function realization principle of the RU-2RUS parallel leg are introduced, and the multi-state pose is designed. The kinematics model of a single chain is constructed by using the improved DH method. The kinematics of the mechanism is solved through the geometric relationship. Then, the single-leg workspace is obtained and analyzed to verify the rationality of the configuration. The results show that the motion range is large, and the adjustment required for state switching is minor. It can provide a feasible lunar-based equipment design scheme for lunar surface stable landing, material transfer, multipoint detection, and base construction.",
keywords = "buffering/walking, configuration design, kinematics analysis, lunar-based equipment",
author = "Tianyu He and Yang Dong and Junpeng Zhao and Chunjie Wang",
note = "Publisher Copyright: {\textcopyright} COPYRIGHT SPIE. Downloading of the abstract is permitted for personal use only.; 2022 International Conference on Mechanical Design and Simulation, MDS 2022 ; Conference date: 18-03-2022 Through 20-03-2022",
year = "2022",
doi = "10.1117/12.2638878",
language = "英语",
series = "Proceedings of SPIE - The International Society for Optical Engineering",
publisher = "SPIE",
editor = "Dongyan Shi and Guanglei Wu",
booktitle = "International Conference on Mechanical Design and Simulation, MDS 2022",
address = "美国",
}