电子测量与仪器学报

徐成,行芳仪,赵宝生.冲击挤密式月球表面钻探潜入器设计[J].电子测量与仪器学报,2022,36(11):9-16

冲击挤密式月球表面钻探潜入器设计

Design of a penetrator for lunar surface drilling

DOI：

英文关键词:penetrator dynamic modeling ADAMS simulation mass and stiffness matching penetration test

基金项目:国家自然科学基金（51775541）项目资助

作者	单位
徐成	1. 辽宁科技大学机械工程与自动化学院，2. 中国科学院沈阳自动化研究所机器人学国家重点实验室
行芳仪	2. 中国科学院沈阳自动化研究所机器人学国家重点实验室，3. 沈阳理工大学自动化与电气工程学院
赵宝生	1. 辽宁科技大学机械工程与自动化学院

Author	Institution
Xu Cheng	1. School of Mechanical Engineering and Automation, University of Science and Technology Liaoning,2. Shenyang Institute of Automation, Chinese Academy of Sciences, State Key Laboratory of Robotics
Xing Fangyi	2. Shenyang Institute of Automation, Chinese Academy of Sciences, State Key Laboratory of Robotics,3. School of Automation & Electrical Engineering, Shenyang Ligong University
Zhao Baosheng	1. School of Mechanical Engineering and Automation, University of Science and Technology Liaoning

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中文摘要:

为了提高冲击式潜入器的下潜效率, 利用质量-弹簧系统建立了潜入器单周期下潜过程的动力学方程, 通过遍历寻优的方式获得了潜入器高效下潜的最优质量刚度匹配关系, 基于 ADAMS 对潜入器工作过程中的运动状态进行了仿真研究, 在此基础上设计了一种高性能冲击挤密式月球表面钻探潜入器, 并制作了原理样机, 开展了潜入器下潜特性实验。实验结果表明,相较于旧样机, 所设计的潜入器下潜效率提高了 63. 7%, 且稳定性良好, 各部件运动工作协调, 实际下潜深度与理论和仿真结果基本一致, 具有较好的理论意义和重要的应用价值。

英文摘要:

In order to improve the diving efficiency of the penetrator, this paper uses the mass-spring system to establish the dynamic equation of the single-cycle diving process of the penetrator, obtains the optimal mass stiffness matching relationship for the efficient diving of the penetrator through the ergodic optimization method, and simulates its motion state in the working process based on ADAMS. Based on this, a high-performance lunar surface penetrator prototype was designed and tested. The test results show that the penetration efficiency of the new prototype is 63. 7% higher than the original one, and the stability is well. The motion of each component is coordinated, and the actual depth of the diving is in good agreement with theoretical and simulations, which is of good theoretical interest and important application value.

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