with lightweight

SUN Xiao-xiao，ZHANG Bing-wei，LIU Jia-ju，LIU Jie

（School of Mechanical Engineering，Jiangsu University of Science and Technology，Zhenjiang 212003，China）

Abstract：Aiming at the problem of efficiency and cost in developing sampling manipulator of planetary rover，virtual prototyping technology was used to research its mechanical structure，function，power consumption and control systems. A4DOF sampling manipulator

design was proposed which was lightweight，low-power consumption and multifunctional. Each of joint driveing program was determined and driven parts were selected. 3D model was built in SolidWorks and dynamic model was established in ADAMS. The coordinate systems of sampling manipulator were established and its link parameters were determined by using D-H method. Besides，forward and inverse formulas were built and the cubic polynomial algorithm was used for jiont trajectory planning. The co-simulation system was established through the Matlab and Adams and it was successfully implemented. The simulation results indicate that the design of

samping manipulator is reasonal which meets the purposes of lightweight and low power consumption and its control system is stable and reliable which can achieve supporting，recovering and sampling function.

Key words：sampling mechanical arm；multifunction；lightweight；virtual prototype；co-simulation