Study Of Attachment Performance Of Bionic Claw Stab Mechanism Based On Joint Simulation Of RecurDyn And EDEM

The success of Chang’e-5 in bringing back the lunar soil from the lunar surface in2020 has greatly encouraged the confidence of astronauts in exploring the universe,and subsequently China will conduct original sampling of lunar rocks by drilling in order to obtain the original data of cores,and the recoil force generated during drilling cannot be offset by traditional methods,therefore,the bionic claw stinger grasp attachment,which imitates insect grasp,is born.The paper focuses on the application of the bionic claw stinger sheet,and the performance tests and related simulations of the sheet are carried out to prepare for future optimization of the sheet.The second chapter of the thesis focuses on the theoretical modeling and numerical simulation of the claw spine sheet.Firstly,we model the contact between the tip of the claw stinger and the rough wall surface,and then abstract the mechanical structure of the claw stinger sheet to the insect’s foot,and on this basis,we simplify and establish the flexible rod model of the claw stinger grasping,firstly,we briefly analyze the specific grasping process of the flexible rod on the rough wall surface,and describe in detail the drawing method of the safety area diagram,and then we numerically simulate the flexible rod model for the subsequent simulation The numerical simulation of the flexible rod model is carried out to lay the foundation for the subsequent simulation and test comparison.The third chapter of the thesis is devoted to the simulation part.Firstly,the rough surface is modeled and the discrete element software EDEM is used to simulate different rough surfaces,using a random distribution of particles with different particle sizes,displacements and numbers to simulate the actual working conditions.Subsequently,a spring damping system is used in the multi-body dynamics software Recur Dyn to replace the actual viscoelastic rubber material,and the coupling interface is coupled with EDEM for simulation,and multiple simulations are performed for different numbers of claw spikes to prepare for subsequent experimental comparisons.The fourth chapter of the thesis is mainly for the experimental part.Firstly,the process of making the bionic claw spikes is introduced,then the grip force tests with different number of pieces and different rough surfaces are performed and the force data are collected,and finally the grip force tests of the whole machine and the sampling tests of the actual volcanic rock grip holes are performed.The test data were compared with the simulation data,and the two data were found to fit within the tolerance range,leading to the conclusion that future optimization of the bionic jaws can be carried out by means of simulation.