Concurrent actuator development for the Mars Exploration Rover instrument deployment device

Details Concurrent actuator development for the Mars Exploration Rover instrument deployment device Concurrent actuator development for the Mars Exploration Rover instrument deployment device

Sep 2003

adsabs.harvard.edu/cgi-bin/nph-data_query?bibcode=2003esasp.524..255f&link_type=abstract

In: Proceedings of the 10th European Space Mechanisms and Tribology Symposium, 24-26 September 2003, San Sebastián, Spain. Compi

Mathematics

Logic

Deployment Mechanisms, Mars Exploration Rover

Scientific paper

Five unique rotary actuators were developed for the Instrument Deployment Device (IDD), a five degree-of-freedom robotic arm designed to give the Mars Exploration Rover (MER) the ability to gain physical access to the rocks and soil in the Martian environment. These actuators enable the IDD to accurately position each of four separate instruments attached to its end effector against and near geological specimens selected for scientific investigation. This paper describes developmental challenges encountered during the design, fabrication, and testing of the IDD actuators. Shown is that these challenges were associated with fulfilling high torque, high accuracy, low mass, and low volume requirements imposed upon the actuators. In addition, development of the actuators involved integrating their designs into the IDD system. The IDD system is comprised of its actuators, interconnecting structural components, flexible power and signal cables with a corresponding cable management system, launch restraint and re-stow components, and the IDD payload of four scientific instruments.

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