Structural Design and Simulation of Passive Low Gravity Compensation for the Deployable Arm in the Device of Drilling and Collecting Lunar Soil

As an important constituent part of the sampling device for lunar soil drilling, the deployable arm can help transfer the samples and avoid stretching. According to the ground experimental research requirements for deployable arm, this paper proposed a low-gravity compensation method of passive cam counter weight by establishing a Lagrangian dynamics model of deployable arm. It is emphasized on designing the profile curve of cam mechanism and the mechanical structure of cam component. By using ADAMS software, this paper conducted kinematics analogue simulation and obtained the kinematic parameters of deployable arm under the environmental conditions of the lunar surface and of the ground surface. The comparison of the analogue results has verified the necessity and reasonability of this compensation method. At last, this paper reached the conclusions and proposed measures to improve the compensation device. This paper can offer certain technical reference for the ground experiment of the sampling mechanism used for lunar drilling and the engineering implementation.