一种刚、柔机械臂组合的月壤取样器动力学分析

Dynamics Analysis of A Rigid-Flexible Combined Lunar Sampler

针对月球表取任务,本文提出一种由三个刚性臂和一个柔性臂组合、结构新颖的月壤取样器。该取样器具有收缩体积小、工作空间大和重量轻的优点。重点描述了柔性臂的驱动机构设计。采用虚功原理建立了柔性臂的柔性动力学模型,并采用Wilson-theta的数值计算方法分析了取样器的动力学特性。通过动力学响应确定了取样器的工作极限。最后通过仿真和实验验证了该柔性动力学分析的正确性。

Lunar exploration is of great importance nowadays and surface sampling system is critical to the success of future in-situ analysis or sample return missions. In this paper, the combination of rigid arms and a flexible arm are developed for the lunar sampler, namely, the sampler is mainly composed of three rigid arms and one flexible arm. And the driving principle of the flexible arm is illustrated. The flexible dynamics model for the flexible arm is built by using the virtual work principle and the flexible dynamics equation is solved by using the Wilson-theta numerical method to analyze the dynamics behavior of the sampler. The working limits of the sampler are determined according to the dynamics response. At last, simulations and experiments show the correctness of the dynamics model.