着陆姿态对地外天体表层采样的影响研究

表层采样技术是获得地外天体特性的重要手段,是完成地外天体采样任务的一项关键技术。文章结合4自由度表层采样装置的特点,建立了表层采样装置的逆运动学模型,分析了极限着陆姿态下表层采样装置安装位置在当地参考坐标系中的变化,并针对一次封装与二次封装过程中表层采样装置的位置和姿态要求,明确了末端采样器姿态补偿方法,提出了着陆姿态对表层采样影响的分析算法。仿真结果表明,该算法能有效分析着陆姿态对表层采样的影响,可为表层采样装置适应性设计提供支持。

Research on Influence of Landing Attitude on Extraterrestrial Body Surface Sampling

Surface sampling technology is an important method for getting characteristic of extra terrestrial body. It is a key technology of extraterrestrial body sampling mission. Based on the feature of 4 freedom surface sampling device, an inverse kinematics model for surface sampling device is set up. And the mounting pointing of surface sampling device in local coordinate system is analyzed for the limit landing attitude. By considering the constraint of elementary sealing and airproof sealing, an attitude compensation method of terminal sampling device is discussed, and an algorithm for influence of landing attitude on surface sampling is proposed. The simulation result proves that the algorithm is effective for landing attitude influence analysis and can be used for surface sampling device adaptability design.