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Shock and Vibration
Volume 2016, Article ID 8189373, 10 pages
Research Article

Modeling and Experimental Validation for Hammer-Driven Type Penetrators under Horizontal Condition

State Key Laboratory of Robotics and System, Harbin Institute of Technology (HIT), Harbin 150001, China

Received 25 May 2016; Revised 16 September 2016; Accepted 5 October 2016

Academic Editor: Carlo Trigona

Copyright © 2016 Yi Shen et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


This paper proposed a method used to analyze the motion of hammer-driven type penetrators and built a testbed for validating the result of structure optimization of the penetrator in deep space exploration. This method gave a clear understanding of the working principle of the penetrator. The penetrator mainly comprises five components: hammer element, suppressor element, housing element, brake spring, and force spring. Based on the structure of the penetrator, the maximum forward movement of housing element was chosen as optimal object. In order to describe the working process clearly and properly, the working stroke was divided into three phases: unlocking phase, colliding phase, and penetrating phase. In each phase, the displacement and velocity of hammer element, suppressor element, and housing element were described with equation sets when numerically solved. Then, the corresponding parameters of the penetrator were obtained in the testbed with high-speed camera. At last, comparing the parameters obtained by theoretical analysis with that obtained by experiment test with high-speed camera, the perfect ratio of mass element (hammer element, suppressor element, and housing element) and perfect ratio of stiffness of spring element (brake spring and force spring) were obtained.