Research On Penetrating Mechanical Characteristics Of Flexible Probe For Lunar Exploration

In this paper,a new type of penetrating detector is proposed for the lunar soil profile detection task.The detection device is equipped with a thin-film flexible probe and is equipped with a sensing device to penetrate into the lunar subsurface.Analyze the mechanical characteristics of the probe penetrating into lunar soil profile and determine the load envelope conditions for the probe work.The load that penetrates the probe is divided into the resistance of the probe head and the frictional resistance of the side of the probe body.Based on the bearing capacity model,the failure slip of the lunar soil was analyzed,and the resistance of the probe head is obtained.The small cavity expansion theory is used to analyze the extrusion effect of the cross-section hole on the probe body after the penetration,and the frictional resistance model of the probe body is obtained.Using the penetration test,the resistance data of the penetration and extraction of the probe is obtained,and the penetration resistance model is verified to provide a theoretical basis for the design of the penetration system.The profile forms a certain constraint on the probe after penetration.When encountering obstacles such as rock,the probe needs to overcome the deformation of the body stiffness and the profile constraint.In order to further explore the impact of the load on the obstacle,the constraint model of the profile on the probe is established.According to Manisfield theory,the probe body stiffness model is established.Based on the limit equilibrium theory,the failure force of the profile is analyzed when the probe is bent and twisted,and the penetrating load of the probe penetrating with deformation is obtained.The penetration force test was used to verify load force during deformation.This model provides a theoretical basis for the design of the body stiffness of the probe.Based on the interaction model between the flexible probe and lunar soil,the penetration of probe by impact action is proposed.The action scheme of impact clamping driven by cam was designed.According to the theory of collision spring and the hypothesis of plastic lunar soil resistance,the dynamic equation of impact clamping system is established.The Runge-Kutta method is used to solve the equation.The distribution factor of impact force to penetration force and clamping force is proposed as the evaluation index,and the influencing factors of the system are analyzed.The structure of the gripper was designed and the drop hammer impact test bench was built.The characteristics of the impact gripper system were tested,the impact gripper model was verified.Provide theoretical support for system dynamics parameter configurationAccording to the interaction model between flexible probe and lunar soil,the structural parameters of flexible probe are optimized and designed with the aim of increasing stiffness and reducing penetrating load resistance.The dynamic equation of the buffer system is established,and the dynamic parameters of the buffer system are allocated to reduce the reaction force of the actuating system to the rack.The driving scheme of impact cam and gripper is designed in detail,and the prototype of principle is developed.The experimental conditions are established and the penetration characteristics of the flexible probe prototype are tested,which verifies the feasibility of the flexible probe scheme.