摘要
全面调研了小天体探测任务的科学意义,系统分析了采样任务的技术挑战和性能指标,综述国内外机器人采样任务的进展,并着重阐述了各类机器人采样器的采样理念和设计机理。进一步,考虑小天体高度不确定性的采样环境,提出了一种基于蛛网模型的定量评估方法,以评估各采样器的综合采样能力。最后,充分剖析了前期小天体采样任务的经验教训,并探讨了未来机器人采样技术的发展方向。
The scientific significance of small-body exploration missions is comprehensively investigated,the technical challenges and performance metrics associated with sampling missions are systematically analyzed,the progress of robotic sampling missions both domestically and internationally is surveyed,and the sampling principles and design mechanisms of various robotic samplers are elaborated.Furthermore,considering the highly uncertain sampling environments of small bodies,a quantitative evaluation method based on the spider-web model to assess the comprehensive sampling capability of each sampler is proposed.Finally,lessons learned from previous small-body sampling missions are thoroughly analyzed,and future development directions for robotic sampling technologies are discussed.
作者
张鑫
周浩
ZHANG Xin;ZHOU Hao(State Key Laboratory of Robotics and Intelligent Systems,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110016,China)
出处
《机器人》
北大核心
2025年第6期867-880,共14页
Robot
基金
国家自然科学基金(62103407).
关键词
小天体探测
机器人采样
定量性能评估
small-body exploration
robotic sampling
quantitative performance evaluation
