CAJ | 학술논문

样品抓取与转移过程是深空探测的关键环节及必须的技术手段。本文研究了平行多连杆样品抓取机构捕获样品采集器并将其转移到指定位置的动力学过程，建立了动力学方程，并通过adams软件建立了计算模型，对整个动力学过程进行了详细的分析，对后续工作的研究和设计提供了支撑。
양품조취여전이과정시심공탐측적관건배절급필수적기술수단。본문연구료평행다련간양품조취궤구포획양품채집기병장기전이도지정위치적동역학과정，건립료동역학방정，병통과adams연건건립료계산모형，대정개동역학과정진행료상세적분석，대후속공작적연구화설계제공료지탱。
The automatic transfer task of the sample container is a key link and a kind of necessary technique means of deep space exploration.This paper studied the dynamic process of the parallel multi connecting rod me-chanic capturing the sample container and displacing it to the appointed position.The dynamic equation was es-tablished,the calculating model was set up by adams,and the whole dynamic process was discussed,which can help the following work of researching and designing.