铲挖式表层月壤采样器设计与试验

针对月球表层土壤的采样任务，设计了一种搭载于机械臂末端的采样器。基于离散元手段，利用Scott真实月壤微型三轴压缩试验数据，完成仿真散体颗粒特性参数匹配，开展了采样器铲取、挖取采样过程的仿真分析，获得作业过程采样器的动力学特性。此外，开发了采样器性能测试系统，针对不同模拟月壤对象进行了采样试验，测试获得了采样器采样能力随深度及月壤硬度的变化情况，得到采样器操作参数的可行区域。采样器能够实现铲取、挖取和封装容器转移多重任务，研究工作为中国未来的月面采样任务提供方案借鉴和技术支撑。

Design and test of a sampler for lunar surface regolith

A sampler carried on the end of the manipulator was designed in view of the sampling task of the lunar surface regolith. Based on the discrete element method, the parameters matching of the simulation particle characteristics was completed by using the data of the miniature three axis compression test data of Scott real lunar regolith. The simulation analysis of the sampling process of the sampler was carried out and the dynamic characteristics of sampler during the working process were obtained. In addition, the performance test system of sampler was set up. The sampling test was carried out for different simulated lunar soil. The test acquired the sampling capacity of the sampler changing with the depth and the lunar soil hardness. And the feasible region of the sampling device's operating parameters was obtained by testing. The sampler can achieve the multiple tasks of transferring encapsulated containers, shoving and excavating. The research work will provide reference and technical support for future lunar sampling missions in China.