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为了实现地外天体的表面详尽勘测,探测器需进行着陆、采样、返回等活动。为确保采样返回任务的成功,探测器在研制中需进行各种空间环境模拟试验评价。针对探测器返回起飞过程中的环境模拟试验,文章提出了采用六自由度Stewart平台作为位姿及运动模拟装置。该装置有静态和动态位姿调整两个基本功能,其中静态位姿调整用来模拟不平的地形对探测器的返回模块返回起飞的影响,动态位姿调整用来模拟返回模块与着陆模块之间的相对运动。位姿及运动模拟装置的控制为上位机+下位机工作模式,由上位机设置模拟装置的运动参数,并将运动参数传输到下位机进行控制。经过模拟试验测试证明,该装置能够满足探测器返回起飞的位姿及运动的模拟试验要求。
In order to achieve a detailed survey of the surface of extraterrestrial objects, the detector needs to carry out activities such as landing, sampling and returning. In order to ensure the success of the sample return mission, the detector needs to be evaluated in various space environment simulation tests. In order to simulate the environment during the return of the detector, this paper presents a six-freedom Stewart platform as a pose and motion simulation device. The device has two basic functions of static and dynamic attitude adjustment, of which static attitude adjustment is used to simulate the impact of uneven terrain on the return of the detector return takeoff, dynamic attitude adjustment is used to simulate the return between the module and the landing module The relative movement. Pose and motion simulation device control for PC + lower computer working mode, set by the host computer to simulate the movement parameters of the device, and the motion parameters transmitted to the next crew to control. After the simulation test shows that the device can meet the detector to take off the pose and motion simulation test requirements.