Abstract
To reduce launching load of rocket and power consumption of rover, design of sampling manipulator was proposed which was lightweight, low-power consumption and multifunctional. Stability principle of triangle was used to comprise stable structure between robotic arm and locking device. And the weight of planetary rover was effectively reduced and its energy efficiency was greatly improved by combining manipulator and mast lifting stereo camera into one. Forward and inverse formulas were built by using D-H method and Robotics Toolbox was used for kinematics simulation. The simulation results indicate that the design of samping manipulator is reasonal which meets the purposes of lightweight and low power consumption.
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