一种应用于月球样品采集、返回计划的末端执行器

A Novel End-Effector for Lunar Sample Acquisition and Return

根据月球样品采集、返回计划的具体技术要求,设计了一种具备挖掘采样、振动筛选和自主解锁等功能的并且能够适应低重力环境以及月壤特殊力学特性的末端执行器.在这种新型的末端执行器的设计过程中运用了仿生学、土壤力学以及颗粒物质力学仿真的设计思想.同时也应用EDEM、ADAMS等仿真软件对设计的细节进行控制,使得设计出来的末端执行器具备较高的采样效率以及较低的功耗.最后,在以4自由度机械臂为基础的试验平台上进行模拟试验,验证了仿真结果和理论计算结果的准确性,以及所设计的末端执行器的实用性.

According to the specifications of the lunar sample acquisition and return plan,this paper presents a novel endeffector,which possesses the abilities of sampling,riddling and self unlocking,and also can fits in the special environment of low gravity and mechanics of lunar soil.During the design process,design theories in the bionics,soil mechanics and grain substance mechanics are adopted,and also the EDEM and ADAMS are applied to controlling the design details in order to enhance sampling efficiency and reduce energy consumption.Finally,a 4-DOF（degree of freedom） robot arm-based test bed is built to testify the correctness of the simulation results and the calculation results.Also,the practicability of the end-effector is validated on the test bed.