为了实现地外天体的表面详尽勘测,探测器需进行着陆、采样、返回等活动.为确保采样返回任务的成功,探测器在研制中需进行各种空间环境模拟试验评价.针对探测器返回起飞过程中的环境模拟试验,文章提出了采用六自由度 Stewart 平台作为位姿及运动模拟装置.该装置有静态和动态位姿调整两个基本功能,其中静态位姿调整用来模拟不平的地形对探测器的返回模块返回起飞的影响,动态位姿调整用来模拟返回模块与着陆模块之间的相对运动.位姿及运动模拟装置的控制为上位机+下位机工作模式,由上位机设置模拟装置的运动参数,并将运动参数传输到下位机进行控制.经过模拟试验测试证明,该装置能够满足探测器返回起飞的位姿及运动的模拟试验要求.%In the future extraterrestrial celestial detection, the landing, the sampling, the returns and other activities are usually involved. In this paper, the attitude and motion simulation device for space environment simulation tests for the detector return takeoff is studied. A six degree-of-freedom Stewart platform is proposed as the attitude and motion simulation device. The device can simulate the static and dynamic posture adjustment. The layout of the device in the vacuum chamber and the principle of the device are discussed. The device is controlled by an upper computer and lower computers. The motion parameters of the device could be set in the upper computer through software, and then the motion parameters are transferred to the lower computers for control. The device can meet the attitude and motion simulation requirements of the detector test.
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