月球采样机械臂系统设计及试验验证  

Design and Verification of a Lunar Sampling Manipulator System

作　　者：马如奇[1] 姜水清[1] 刘宾[1] 白美 林云成[1] MA Ru-qi;JIANG Shui-qing;LIU Bin;BAI Mei;LIN Yun-cheng(Beijing Key Laboratory of Intelligent Space Robotic System Technology and Applications, Beijing Institute of Spacecraft System Engineering,Beijing 100094,China)

机构地区：[1]空间智能机器人系统技术与应用北京市重点实验室,北京空间飞行器总体设计部,北京100094

出　　处：《宇航学报》2018年第12期1315-1322,共8页Journal of Astronautics

基　　金：国家“探月工程”重大科技专项.

摘　　要：在对月球采样返回任务需求及探测器系统任务剖面进行分析的基础上,设计并研制了一种轻量化、大负载、高精度、宽采样范围月球采样机械臂系统。该系统主要由4自由度机械臂及两种不同采样形式的末端采样器组成,可对不同指定区域浅层月壤进行铲、挖、浅钻等多形式采集。在综合考虑机械臂系统器上布局的基础上,基于运动学模型对采样机械臂的可达采样区域进行仿真分析,提出采样机械臂月面采样策略。基于等尺寸着陆器模拟平台,开展了针对3种不同密实度模拟月壤的采样试验,采样试验结果表明在可达采样空间内,采样机械臂对不同密实度月壤均具有较好的适应性,最大采样深度可达30 mm,最大单次采样量可达270 g,单次采样时间小于2 min。Based on the analysis of the lunar sampling mission requirements and the mission profile of the detector system,a lunar sampling manipulator system with lightweight,large load,high precision and wide sampling range is designed and developed.The manipulator system is mainly composed of a 4-degree-of-freedom manipulator and two kinds of end samplers,which can perform shoveling,digging,drilling and other forms of the lunar soil collection operation in the specified areas.On the basis of the comprehensive consideration of the manipulator system layout on the detector,the simulation analysis of the reachable sampling area is carried out based on the kinematic model,and the sampling strategy of the sampling manipulator is proposed.By using a 1∶1 landing detector platform,the sampling experiments for 3 kinds of simulant lunar soils with different densities are carried out.The experimental results show that the sampling manipulator has good adaptability to the simulant lunar soils with different densities in its reachable sampling space,the maximum sampling depth can reach 30 mm,the maximum single-sampling amount can reach 270 g,and the single-sampling time is less than 2 min.

关 键 词：深空探测 月球采样 采样机械臂 模拟月壤 

分 类 号：V476.3[航空宇航科学与技术—飞行器设计]