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Sample acquisition and instrument deploymentProgress 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.
Document ID
19960001500
Acquisition Source
Legacy CDMS
Document Type
Contractor Report (CR)
Authors
Boyd, Robert C. (Lockheed Martin Corp. Denver, CO, United States)
Date Acquired
September 6, 2013
Publication Date
October 15, 1995
Subject Category
Instrumentation And Photography
Report/Patent Number
NAS 1.26:199512
MCR-95-1310
NASA-CR-199512
Accession Number
96N11507
Funding Number(s)
CONTRACT_GRANT: NASW-4818
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.

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