| description abstract | The mobile lunar lander (MLL), a novel lander configuration endowed with both landing and moving capabilities, promises to serve as a mobile habitat for future lunar research station construction. This paper studies the landing–moving integrated gear (LMIG) of the MLL that includes 10 design parameters, establishes the dynamic landing model, designs the performance evaluation indexes, analyzes the relationship between the design parameters and performance indexes, and proposes a multiparameter stepwise optimization approach based on capability priority grouping. The results indicate that the established dynamic landing model agrees well with the simulation results, with a maximum error of 3.07% for the descent distance. The parameters that significantly affect the performance indexes include the angle between the landing leg and the horizontal ground, the length of the primary strut, and the stroke of the buffer. The optimization approach prioritizes the different capabilities by determining the work sequence of MLL and optimizes the design parameters by grouping them based on the sensitivity of design parameters to performance indexes using the nondominated sorting genetic algorithm. This approach reduces the dimension of the multiparameter optimization issue and yields the optimal configuration of the LMIG. Additionally, the optimization results show that all performance indexes have been improved, with the obstacle crossing index reaching the greatest performance improvement of 12.45%, and the proposed analysis and optimization approach can also benefit other mechanisms with multiple capabilities and parameters. | |
