The three legged walker is proposed as a mobile work platform for numerous tasks associated with lunar base site preparation and construction. It is seen as one of several forms of surface transportation, each of which will be best suited for its respective tasks. Utilizing the principle of dynamic stability and taking advantage of the Moon's gravity, it appears to be capable of walking in any radial direction and rotating about a point. Typical curved path walking could involve some combination of the radial and rotational movements. Comprised mainly of a body, six actuators, and six moving parts, it is mechanically quite simple. Each leg connects to the body at a hip joint and has a femur, a knee joint, and a tibia that terminates at a foot. Also capable of enabling or enhancing the dexterity of a series of implements, the walker concept provides a mechanically simple and weight efficient means of drilling, digging, mining, and transporting cargo, and performing other like tasks. A proof of principle machine demonstrated the feasibility of the walking concept.


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    Title :

    Three Legged Walking Mobile Platform: Kinematic and Dynamic Analysis and Simulation


    Contributors:

    Publication date :

    1988


    Size :

    142 pages


    Type of media :

    Report


    Type of material :

    No indication


    Language :

    English







    Passive walking multi-legged carrying platform

    YAO YAN'AN / WEI CHAORAN / WENG LE'AN | European Patent Office | 2021

    Free access