A useful tool for representing the impact of landing on lander legs: Application to a legged mobile lander with a novel topological design

This article focuses on new tool to visualize the performance variation in post landing diseased legs of legged mobile lander (LML). A cubic representation method is developed for clearer representation of performance indices. The impact of landing permanently changes the lengths of dampers. These alterations can substantially influence the overall roving workspace of leg, subsequently impacting key performances such as transmission efficiency, velocity, and joint stiffness for roving. Unlike previous studies that often overlooked the eternally effects of post-landing diseased legs, this research delves into repercussions of permanent limb deformation on LML performance. Then this tool is applied on a novel topological design of LML through visualizing its workspace volume, transmission, stiffness and global velocity indices for roving workspace. This LML design combines both landing and walking augmenting exploration capabilities. This research provides opportunity to understand possible post landing scenarios at design stage.