摘要星球探测是航天领域中一个重要的研究课题，目前星球探测主要集中在月球探测和火星探测。采样机械臂是在星球上实施任务的执行机构，是星球探测不可缺少的一部分，本文论述了采样机械臂的背景、应用现状及发展前景，根据现有结构提出了轻量化、具有锁定功能的结构方案。51260

根据机械臂在星球上的探测任务及其性能指标，要求机械臂能够完成展开、折叠、定位、挖掘、采样、搬运、自修复、锁定等作业任务。因为在星球上，受到外界环境的影响，要求机械臂的结构具有紧凑、体积小、重量轻、灵巧、适应能力强等特点。

本文采用了类似人手臂的结构如腰关节、肩关节、肘关节、腕关节。且四个关节均为旋转关节，4自由度，包括横摇（机身）关节，俯仰（肩部）关节，前臂（肘部）关节和腕部关节。设计出机械臂的三维图和二维工程图，主要对关节组件的设计做了详细介绍，并对一些零件进行仿真分析，验证结构的可靠性。本文主要研究内容包括以下几个方面：

1、查阅国内外有关资料，熟悉课题内容，制定研究目标及研究内容。

2、对现有装置分析研究，确定研究方案，进行设计计算，零件选型，装配图设计。

3、对关键部位进行仿真分析，验证机械臂结构的合理性。

毕业论文关键词：采样；机械臂；锁定；轻量化；

Abstract Planet detection is an important field of aerospace research, planetary exploration currently focused on lunar and Mars exploration. Sampling arm is executing agency on the planet implementation tasks , and it is an indispensable part of the planet detection, this paper discusses the background,application status and development prospects of the sampling arm, according to the existing structures ,making lighter, a locking function structure programs.

According to robot exploration mission on the planet and its performance indicators,it is required to complete manipulator expand, collapse, location, excavation, sampling, handling, self-healing, locking, and so on. Because on the planet, by the external environment, requiring robot structure has a compact, small size, light weight, dexterity, adaptability and other characteristics.

This paper uses a structure similar to the human arm joints such as waist, shoulder, elbow, wrist. And four joints are rotating joints, four degrees of freedom, including the roll (body) articulation, pitch (shoulder) joint, forearm (elbow) joints and wrist joints. Designing a robot arm’s three-dimensional map and two-dimensional drawing , the main components of the design of the joints is made a detailed description, and some of the parts for simulation analysis to verify the reliability of the structure. The main contents include the following aspects:

1. Accessing to relevant information of domestic and international, familiarity with the topic content, developing research objectives and research contents.

2.Through analysis of existing installations to determine research programs, design calculations, component selection, assembly drawings design.

3. Having a detailed simulation analysis of the critical parts to validation arm structure is reasonable.

Keywords: Sampling; arm; locks; lightweight;

 目  录

第一章 绪论 1

1.1 研究背景与意义 1

1.2 历史、现状与发展趋势 1

1.2.1 国外发展史 1

1.2.2 国内现状 4

1.3 主要研究内容 7

1.4 研究措施 7

第二章 采样机械臂的结构设计