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Test and Validation of the Mars Science Laboratory Robotic ArmThe Mars Science Laboratory Robotic Arm (RA) is a key component for achieving the primary scientific goals of the mission. The RA supports sample acquisition by precisely positioning a scoop above loose regolith or accurately preloading a percussive drill on Martian rocks or rover-mounted organic check materials. It assists sample processing by orienting a sample processing unit called CHIMRA through a series of gravity-relative orientations and sample delivery by positioning the sample portion door above an instrument inlet or the observation tray. In addition the RA facilitates contact science by accurately positioning the dust removal tool, Alpha Particle X-Ray Spectrometer (APXS) and the Mars Hand Lens Imager (MAHLI) relative to surface targets. In order to fulfill these seemingly disparate science objectives the RA must satisfy a variety of accuracy and performance requirements. This paper describes the necessary arm requirement specification and the test campaign to demonstrate these requirements were satisfied.


Document ID
20150007472
Acquisition Source
Jet Propulsion Laboratory
Document Type
Conference Paper
External Source(s)
Authors
Robinson, M.
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Collins, C.
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Leger, P.
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Kim, W.
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Carsten, J.
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Tompkins, V.
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Trebi-Ollennu, A.
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Florow, B.
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Date Acquired
May 6, 2015
Publication Date
June 2, 2013
Subject Category
Man/System Technology And Life Support
Meeting Information
Meeting: International Conference on System of Systems Engineering (SoSE)
Location: Wailea-Makena , HI
Country: United States
Start Date: June 2, 2013
End Date: June 6, 2013
Sponsors: Institute of Electrical and Electronics Engineers, Texas Univ., Rochester Inst. of Tech.
Distribution Limits
Public
Copyright
Other
Keywords
manipulation
space robotics
robotic arm

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