Research And Manufacture Of An Attitude Adjustment Device Of The Experiment Table For Lunar Soil Sampling System

The goal of China’s Lunar Exploration Program is to drill and sample lunar soiland return lunar soil to earth. The feasibility of the lunar sampling device designmust be verified by ground experiment. In order to test the performance andfunction of the lunar soil sampling prototype installed on the Lander simulation,theattitude adjustment device be researched and manufactured in the paper can adjustdifferent kinds of angles to simulate Lander landing on the lunar surface with thevarious postures.According to the design specifications of the attitude adjustment device,multi-program design has been put forward in the paper. A innovative design hasbeen chose which uses Hooke hinge works inversely after contrasting nine kinds ofdesigns with higher feasibility chose from twenty-two ones. After the theoreticalstudy on the moving forward and inverse solution of the attitude adjustmentmechanism, mechanical motion simulation using MATLAB/Simulink softwareinnovativly and geometric method have been adopted to prove that the theoreticalstudy is correct and the moving forward and inverse solution of the mechanism iseasy.During the specific structural design of the mechanism, two wormtransmissions are designed by MATLAB optimization toolbox taking the minimalvolume of worm’s corona gear and the relatively velocity and worm gear centerdistance as the objective functions. After then, using ADAMS software and ANSYSWorkbench software to do dynamic and static analysis of the device and structuraloptimization has been made according the simulation results of the device.In this paper, the servo control system of the attitude adjustment device has twoparts, the upper and lower machine control mode. Motor rotations are controlled byrelays and a STC12C5A60S2single chip. VB6.0programming software is used todevelop monitoring and control interface of the host computer upper.At last, according to experimental method designed in the paper, theexperiment is done in different working conditions of the attitude adjustment deviceafter it was manufactured. And then, using a new method designed ownly to make aresearch of the large number of experimental data and its curve fitting graphicsusing MATLAB gives the conclusion of the accuracy of the attitude adjustmentdevice is0.35°which meets the design accuracy requirement of0.5°.