The Thermal Design Evolution of the Phoenix Robotic Arm

An adequate warm-up heater approach was developed using analysis & previous Mars surface experience. In the worst-cold environment, all the actuators were able to warm to their minimum operating temperature within the required time. In the worst-hot environment, the maximum continuous actuator power dissipation during normal operations was determined. A mechanical thermostat provides best means to cope with a failed-on wrist heater & to ease RA operations planning.