月球探测表层采样器的研究

发布时间：2018-01-10 03:19

本文关键词：月球探测表层采样器的研究　出处：《哈尔滨工业大学》2012年硕士论文　论文类型：学位论文

更多相关文章： 表层采样器 ADAMS 联合仿真 PD控制

【摘要】：人类自古以来对月球就充满了好奇和遐想，近现代科学技术的进步为探月提供了科技平台。开展月球探测是我国航天活动的重要内容，发射月球软着陆器对月球土壤、岩石等进行探测，并采样返回，是探月工程的关键一步。月球探测表层采样器是完成月壤采集的主要工具，本文研制了一种具有样品初步封装能力的表层采样器，并通过实验检验其相关功能。本文首先分析了国内外表层采样器的发展现状，根据系统性能指标要求和采样工作流程，，提出总体方案，并设计出一种由铲取机构、敲击筛选机构、解锁机构和底部锁紧机构组成，具有样品初步封装能力的表层采样器。通过三维建模软件完成了所有零件的设计，并利用有限元软件对重要零件进行强度校核。采用已有的硬件电路对采样器上的电机进行控制，与机械本体一同构成了一个完整的末端执行器。随后，应用仿真分析软件ADAMS对设计完成的表层采样器进行仿真分析。通过对比不同条件下的仿真结果，确定了敲击筛选机构中的异形多齿轮盘的齿数；通过仿真敲击过程和解锁过程，获得了各个电机所需的输出扭矩，与受力分析计算结果一起构成了电机选型的依据；采用Matlab\Simulink和ADAMS联合仿真的方式，模拟解锁机构基于PD控制下的位置闭环跟踪特性，为实验调试提供参考。最后，本文以G2HITPlatform软件为平台，完成了表层采样器的敲击功能和解锁功能验证实验。同时，结合实际任务编写了用于控制机械臂运动的上位机软件，并利用该软件完成了表层采样器的地面模拟采样实验。实验结果表明，采用PD控制的电机能有效跟踪规划轨迹，实现敲击筛选和解锁功能；表层采样器能顺利完成0~50mm深度的采样，并实现最终的解锁分离；样品获取量达到1.2kg，满足性能指标要求。
[Abstract]:Since ancient times, mankind has been full of curiosity and reverie to the moon. The progress of modern science and technology provides a scientific and technological platform for lunar exploration. Lunar exploration is an important part of China's space activities. It is a key step of lunar exploration project to launch lunar soft lander to detect lunar soil, rock and so on, and to sample and return. The lunar surface sampler is the main tool to complete lunar soil collection. In this paper, a surface sampler with the ability of initial sample packaging is developed, and its related functions are tested by experiments. This paper first analyzes the development of surface sampler at home and abroad, according to the system performance requirements and sampling workflow, put forward the overall scheme, and design a shovel mechanism, tapping screening mechanism. The surface sampler with the ability of sample initial packaging is composed of the unlocking mechanism and the bottom locking mechanism. The design of all parts is completed by the software of 3D modeling. The finite element software is used to check the strength of important parts, and the existing hardware circuit is used to control the motor on the sampler, and a complete end actuator is constructed together with the mechanical body. Then, the surface sampler is simulated and analyzed by the simulation analysis software ADAMS. The simulation results under different conditions are compared. The number of teeth of the special-shaped multi-gear disk in the percussion screening mechanism is determined. The output torque of each motor is obtained by simulating the process of tapping and unlocking, and the basis of motor selection is formed together with the results of force analysis and calculation. The joint simulation method of Matlab\ Simulink and ADAMS is used to simulate the position closed loop tracking characteristics of the unlock mechanism based on PD control, which provides a reference for the experiment debugging. Finally, based on the G2HIT platform software, the paper completes the verification experiment of the surface sampler's function of tapping and unlocking. At the same time. Combined with the actual task, the upper computer software used to control the motion of the manipulator is written, and the ground simulation sampling experiment of the surface sampler is completed by using the software. The experimental results show that the software can be used to control the motion of the manipulator. The PD controlled motor can track the planning track effectively and realize the function of percussion screening and unlocking. The surface sampler can successfully complete the sampling at a depth of 0 ~ 50mm and realize the final unlocking separation. The quantity of sample obtained was 1.2 kg, which met the requirement of performance index.
【学位授予单位】：哈尔滨工业大学
【学位级别】：硕士
【学位授予年份】：2012
【分类号】：P184;V476.3

【参考文献】