Successful sampling on asteroids is challenging due to their weightless environment and unknown material mechanical properties. This work presents a sweeping and grinding combined hybrid sampler (SGHS) to improve the sampling success rate. The SGHS has two working modes, i.e., using two brush wheels to collect regolith and rock pieces and employing a drill bit to grind rocky surfaces into particles suitable for sweeping. We investigated the sampler-regolith interaction and sample particles contact model and designed the adaptive sampling control method. Numerical simulation and prototypical experiments at different structural parameters and speeds of the brush wheels, mechanical properties of the sample, and asteroid surface gravities, were conducted to validate the proposed methods and estimate the amount and speed of sample collection. The 280 g sampler can acquire 24.12 g regolith simulant in 8 s with the “weight on bit” (WOB) of 0.2 N. The drill bit can enhance the sampling efficiency by 151% in rocky sample simulant acquiring. The results also indicate that sample collection on asteroids is more challenging than sampling on Earth. Moreover, the rotational speed of the SGHS should be carefully controlled to avoid sample particles with too high a speed spilling out of the sampling site. The sampler has the advantages of small size, light weight, low WOB, and high adaptability and can be used for future asteroid sample return missions.

由于小行星失重的环境和未知的材料机械特性，在小行星上成功采样具有挑战性。本工作提出了一种扫磨组合混合采样器（SGHS），以提高采样成功率。SGHS有两种工作模式，即，使用两个刷轮收集风化层和岩石碎片，并使用钻头将岩石表面研磨成适合清扫的颗粒。我们研究了采样器-风化层相互作用和样品颗粒接触模型，并设计了自适应采样控制方法。在不同的刷轮结构参数和速度、样品的机械性能和小行星表面重力下进行了数值模拟和原型实验，以验证所提出的方法并估计样品采集的数量和速度。280 g采样器可在8 s内采集24.12 g风化层模拟物，“钻压”（WOB）为0.2 N。钻头在获取岩石样品模拟物时可将采样效率提高151%。结果还表明，在小行星上采集样本比在地球上采样更具挑战性。此外，应仔细控制 SGHS 的旋转速度，以避免速度过高的样品颗粒溢出采样点。该采样器具有体积小、重量轻、WOB低、适应性强等优点，可用于未来的小行星样品返回任务。