多臂协作式小天体附着取样机器人机械系统  

A multi-arm collaborating robot mechanical system for the small body anchoring and sampling

作　　者：赵志军[1] 全齐全[2] 潘博[1] 危清清[1] 赵京东[2] ZHAO Zhijun;QUAN Qiquan;PAN Bo;WEI Qingqing;ZHAO Jingdong(Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications(Beijing Institute of Spacecraft System Engineering),Beijing 100092,China;State Key Laboratory of Robotics and System(Harbin Institute of Technology),Harbin 150001,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),北京100092 [2]机器人技术与系统国家重点实验室(哈尔滨工业大学),哈尔滨150001

出　　处：《哈尔滨工业大学学报》2022年第1期1-8,共8页Journal of Harbin Institute of Technology

基　　金：国家自然科学基金(51975139,U2037602);机器人技术与系统国家重点实验室开放研究项目(SKLRS-2021-KF-14)。

摘　　要：为解决探测器在弱引力、特性未知小天体表面的附着取样难题,提出一种融合着陆缓冲、附着固定、取样、放样等核心功能为一体的附着取样一体化机器人设计方案。基于腿臂复用,提出多臂协作主动自适应式着陆缓冲方案;利用超声波钻钻压力小、硬质岩石表面钻进效率高的特点,提出针对岩石类小天体的超声波钻式附着固定方案;针对星表特性不确定,取样适应性要求高的需求,提出砂轮磨削、毛刷清扫的双模式取样方案。采用仿真方法对着陆缓冲性能、取样性能等进行分析;在原理样机研制基础上,开展附着取样全流程实验。结果表明,附着取样机器人可实现着陆缓冲、附着固定、取样、放样等功能,验证了该系统的核心功能。本研究旨在探索小天体附着取样方法,为小天体取样返回任务提供技术支持。To solve the problems of the spacecraft anchoring and sampling on the surface of small bodies which are micro-gravity and unknown characteristics,an integrated robot design scheme for anchoring and sampling is proposed.It fusions functions such as buffering,anchoring,sampling,and sample transferring as a whole.Based on the idea of reusing leg and arm,a multi-arm collaborating scheme having active and self-adaptive land buffering is proposed;Taking advantages of the ultrasonic drill with low drilling pressure and high drilling efficiency on the hard rock,an anchoring scheme using ultrasonic drill for the rocky small body is proposed;In response to the uncertain characteristics of the small body and high sampling adaptability,a dual-mode sampling scheme including grinding and brushing is proposed.Buffering and sampling performances are simulated.Prototype is developed and the whole process test of anchoring and sampling is carried out,and the core functions of the robot mechanical system are verified.

关 键 词：小天体 附着 取样 主动缓冲 多臂协作 

分 类 号：V423.6[航空宇航科学与技术—飞行器设计]