Rover landing unloading mechanism with lunar surface adaptability

To improve the unloading mechanism adaptability under all complex conditions, some representative extreme conditions are synthesized in different unloading situations. Analyzing the requirements of the extreme conditions and unloading progress, the movement rule of rocker-arm style unloading mechanism is found with movement track layout method to construct an unloading mechanism D-H matrix, and a art flexible rope transmission is considered as the restriction to obey the movement rule. Thus, a sub-sectioned gradual incline rocker-arm style unloading mechanism is designed. The experiments show that the actually measured movement rule coincides with the theoretical one very well in lunar rover unloading, and the lunar rover unloading can be completed for extreme pitching and extreme rolling, and on stone-spread ground.