机器人化月表采样器的研制

首先介绍了月表采样的新特点与存在的困难;根据月表环境、月表样品的特点以及嫦娥三期工程中对月表采样的要求,合理地选择了采样方式,研制出了一台六自由度机器人化月表采样器,并且对采样器的采样原理,机械系统和运动原理做了详细的分析;最后在石灰粉上做了采样实验,验证了多功能的机器人化月表采样器的基本功能与可行性。

Introducing the characteristic and existing difficult in the lunar surface sampling.Ac-cording the lunar surface environment,characteristic of the lunar sample and the requirement of Chang’e program phase 3,we chose the sampling method reasonably and developed a six degree of freedom robotic lunar surface sampler.Then analyzed the sampling theory,mechanical system and principle of movement.At last,sampling experiments was carried on the calcareousness powder,which validates the sampler’s ba-sic function and...

中国科学院创新基金资助项目(07F1260101)