Abstract
In order to save space for storing precision equipments, lower the center of mass of Lander and reduce lunar rover's dimension constraint limited by mechanism of Lander, the locking-releasing mechanism of side-loaded lunar rover loaded outside Lander is presented, which is a kind of metamorphic mechanism. To ensure the working of this mechanism as the metamorphic process designed, configuration analysis of the locking-releasing mechanism is carried out, and topological structures are described by Huston lower numbered arrays. A kinematic mathematical model of the mechanism is established through homogeneous transformation matrix. The kinematic simulation validates the feasibility of the locking-releasing mechanism when the configurations are shifted from one to the other.
| Original language | English |
|---|---|
| Pages (from-to) | 643-647 |
| Number of pages | 5 |
| Journal | Journal of Harbin Institute of Technology (New Series) |
| Volume | 16 |
| Issue number | 5 |
| State | Published - Oct 2009 |
Keywords
- Configuration analysis
- Kinematics analysis
- Locking-releasing mechanism
- Lunar rover
- Metamorphic mechanism
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