Future Mars missions such as the Mars Sample Return (MSR) mission may benefit from core sample acquisition from a low-mass rover where the rover cannot be assumed to be stationary during a coring operation. Manipulation from Mars rovers is currently done under the assumption that the rover acts as a stationary, stable platform for the arm. An MSR mission scenario with a low-mass rover has been developed and the technology needs have been investigated. Models for alternative types of coring tools and tool-environment interaction have been developed and input along with wheel-soil interaction models into the Stanford Simulation & Active Interfaces (SAI) simulation environment to enable simulation of coring operations from a rover. Coring tests using commercial coring tools indicate that the quality of the core is a critical criterion in the system design. Current results of the models, simulation, and coring tests are provided.


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    Titel :

    Concept for coring from a low-mass rover


    Beteiligte:
    Backes, P. (Autor:in) / Khatib, O. (Autor:in) / Diaz-Calderon, A. (Autor:in) / Warren, J. (Autor:in) / Collins, C. (Autor:in) / Zensheu Chang, (Autor:in)

    Erschienen in:

    Erscheinungsdatum :

    01.01.2006


    Format / Umfang :

    1531147 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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    Results of Coring from a Low Mass Rover

    Backes, Paul / Helmick, Daniel / Bajracharya, Max et al. | IEEE | 2008


    Experimental results of rover-based coring and caching

    Backes, Paul / Younse, Paulo / DiCicco, Matthew et al. | IEEE | 2011


    Rover reconfiguration for body-mounted coring with slip

    Hudson, Nicolas / Younse, Paulo / Backes, Paul et al. | IEEE | 2009


    Rover Reconfiguration for Body-Mounted Coring with Slip

    Hudson, Nicolas / Younse, Paulo / Backes, Paul et al. | NTRS | 2009