Abstract
This paper is devoted to the problem of soil sampling with the use of a manipulator during the Phobos-Grunt mission. The principle of operation accepted for the chosen engineering solution, as well as the construction of the manipulator sampling device, mechanical gears, and the manipulator as a whole, are considered; brief technical specifications are given. The issue of the selection of the material as an analog of the Phobos regolith for ground-based tests is discussed; the test results and principles of the manipulator operation and control are presented; design features of the Lunar manipulator are considered.
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Kozlov, O.E., Kozlova, T.O. (2015). Manipulators of the Phobos-Grunt Project and Lunar Projects. In: Sąsiadek, J. (eds) Aerospace Robotics II. GeoPlanet: Earth and Planetary Sciences. Springer, Cham. https://doi.org/10.1007/978-3-319-13853-4_14
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DOI: https://doi.org/10.1007/978-3-319-13853-4_14
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