机器人2013，Vol.35Issue(1)：9-16,97,9.DOI:10.3724/SP.J.1218.2013.00009
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
摘要
Abstract
According to the specifications of the lunar sample acquisition and return plan, this paper presents a novel end-effector, 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.关键词
末端执行器/采样/封装/仿生设计/土壤力学/EDEMKey words
end-effector/ sampling/ caching/ bionic design/ soil mechanics/ EDEM分类
信息技术与安全科学引用本文复制引用
李操,谢宗武,李永绍,刘宏..一种应用于月球样品采集、返回计划的末端执行器[J].机器人,2013,35(1):9-16,97,9.基金项目
国家863计划资助项目(2008AA12A213). （2008AA12A213）
