本文關(guān)鍵詞：月球探測表層采樣器的研究　出處：《哈爾濱工業(yè)大學(xué)》2012年碩士論文　論文類型：學(xué)位論文

  更多相關(guān)文章： 表層采樣器 ADAMS 聯(lián)合仿真 PD控制

【摘要】：人類自古以來對月球就充滿了好奇和遐想，近現(xiàn)代科學(xué)技術(shù)的進(jìn)步為探月提供了科技平臺(tái)。開展月球探測是我國航天活動(dòng)的重要內(nèi)容，發(fā)射月球軟著陸器對月球土壤、巖石等進(jìn)行探測，并采樣返回，是探月工程的關(guān)鍵一步。月球探測表層采樣器是完成月壤采集的主要工具，本文研制了一種具有樣品初步封裝能力的表層采樣器，并通過實(shí)驗(yàn)檢驗(yàn)其相關(guān)功能。 本文首先分析了國內(nèi)外表層采樣器的發(fā)展現(xiàn)狀，根據(jù)系統(tǒng)性能指標(biāo)要求和采樣工作流程，，提出總體方案，并設(shè)計(jì)出一種由鏟取機(jī)構(gòu)、敲擊篩選機(jī)構(gòu)、解鎖機(jī)構(gòu)和底部鎖緊機(jī)構(gòu)組成，具有樣品初步封裝能力的表層采樣器。通過三維建模軟件完成了所有零件的設(shè)計(jì)，并利用有限元軟件對重要零件進(jìn)行強(qiáng)度校核。采用已有的硬件電路對采樣器上的電機(jī)進(jìn)行控制，與機(jī)械本體一同構(gòu)成了一個(gè)完整的末端執(zhí)行器。 隨后，應(yīng)用仿真分析軟件ADAMS對設(shè)計(jì)完成的表層采樣器進(jìn)行仿真分析。通過對比不同條件下的仿真結(jié)果，確定了敲擊篩選機(jī)構(gòu)中的異形多齒輪盤的齒數(shù)；通過仿真敲擊過程和解鎖過程，獲得了各個(gè)電機(jī)所需的輸出扭矩，與受力分析計(jì)算結(jié)果一起構(gòu)成了電機(jī)選型的依據(jù)；采用Matlab\Simulink和ADAMS聯(lián)合仿真的方式，模擬解鎖機(jī)構(gòu)基于PD控制下的位置閉環(huán)跟蹤特性，為實(shí)驗(yàn)調(diào)試提供參考。 最后，本文以G2HITPlatform軟件為平臺(tái)，完成了表層采樣器的敲擊功能和解鎖功能驗(yàn)證實(shí)驗(yàn)。同時(shí)，結(jié)合實(shí)際任務(wù)編寫了用于控制機(jī)械臂運(yùn)動(dòng)的上位機(jī)軟件，并利用該軟件完成了表層采樣器的地面模擬采樣實(shí)驗(yàn)。實(shí)驗(yàn)結(jié)果表明，采用PD控制的電機(jī)能有效跟蹤規(guī)劃軌跡，實(shí)現(xiàn)敲擊篩選和解鎖功能；表層采樣器能順利完成0~50mm深度的采樣，并實(shí)現(xiàn)最終的解鎖分離；樣品獲取量達(dá)到1.2kg，滿足性能指標(biāo)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.
【學(xué)位授予單位】：哈爾濱工業(yè)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2012
【分類號(hào)】：P184;V476.3

【參考文獻(xiàn)】

相關(guān)期刊論文 前7條

1 鄢泰寧,補(bǔ)家武,吳翔,王榮t

本文編號(hào)：1403644