表取采样机构悬吊式低重力补偿装置设计  

Design of Suspending Low Gravity Compensation Device for Surface Sampling Mechanism

作　　者：王开宝[1] 刘晓飞 李建永[1] 姜生元[2] 邓湘金[3] 罗春阳[1] 王明旭[1] WANG Kaibao;LIU Xiaofei;LI Jianyong;JIANG Shengyuan;DENG Xiangjin;LUO Chunyang;WANG Mingxu(Mechanical Engineering College of Beihua University,Jilin 132021,China;School of Mechatronics Engineering,Harbin Institute of Technology,Harbin 150001,China;China Academy of Space Technology,Beijing 100081,China)

机构地区：[1]北华大学机械工程学院,吉林吉林132021 [2]哈尔滨工业大学机电工程学院,黑龙江哈尔滨150001 [3]中国空间技术研究院,北京100081

出　　处：《北华大学学报（自然科学版）》2021年第4期540-545,共6页Journal of Beihua University（Natural Science）

基　　金：哈尔滨工业大学横向科研课题(201701001).

摘　　要：在探月工程三期中,为了满足表取采样机构地面试验环境构建的要求,在调研重力补偿方法的基础上,设计表取采样机构悬吊式低重力补偿装置.根据表取采样机构运动规律,确定了“补偿装置与表采机构运动对应一致”的设计思想,形成了主、从臂配重补偿方案,对装置设计进行详细的理论分析,完善了重力补偿装置的结构设计.In the third phase of the lunar exploration project,in order to meet the requirements of the ground test environment construction of the surface sampling mechanism,a suspension low-gravity compensation device for the surface sampling mechanism was designed on the basis of investigating the principle of gravity compensation method.According to the motion law of the table sampling mechanism,the design idea of“the compensation device and the table sampling mechanism correspond to each other”was determined,and the counterweight compensation scheme of the master and slave arms were formed.The design of the device was analyzed theoretically in detail,the structure design of gravity compensation device was improved.

关 键 词：表取采样机构 低重力补偿 悬吊配重法 运动跟随 补偿力 

分 类 号：TH122[机械工程—机械设计及理论]