Progress is reported in developing the Sample Acquisition and Instrument Deployment (SAID) system, a robotic system for deploying science instruments and acquiring samples for analysis. The system is a conventional four degree of freedom manipulator 2 meters in length. A baseline design has been achieved through analysis and trade studies. The design considers environmental operating conditions on the surface of Mars, as well as volume constraints on proposed Mars landers. Control issues have also been studied, and simulations of joint and tip movements have been performed. The systems have been fabricated and tested in environmental chambers, as well as soil testing and robotic control testing.


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    Title :

    Sample Acquisition and Instrument Deployment


    Contributors:
    R. C. Boyd (author)

    Publication date :

    1995


    Size :

    41 pages


    Type of media :

    Report


    Type of material :

    No indication


    Language :

    English







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