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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 specific technical requirements of the lunar sample collection and return plan, an end effector with the functions of digging and sampling, vibration screening and self-unlocking, which can adapt to the low gravity environment and the special mechanical properties of lunar soil is designed. End-effector design process using the bionics, soil mechanics and particle mechanical simulation of design ideas.Also use EDEM, ADAMS and other simulation software to control the design details, making the design of the end-effector with higher Sampling efficiency and lower power consumption.Finally, the simulation experiment was carried out on a 4 DOF robotic arm-based test platform to verify the accuracy of the simulation results and theoretical calculations as well as the practicality of the designed end effector .