Statistics – Methodology
Scientific paper
Sep 2003
adsabs.harvard.edu/cgi-bin/nph-data_query?bibcode=2003esasp.524..387b&link_type=abstract
In: Proceedings of the 10th European Space Mechanisms and Tribology Symposium, 24-26 September 2003, San Sebastián, Spain. Compi
Statistics
Methodology
Mars Exploration Rover, Deployment Mechanisms
Scientific paper
The Mars Exploration Rover (MER) program will land two rovers on the Martian surface in January 2004. Each will be equipped with a 5 degree-of-freedom, 1-meter long robotic arm known as the Instrument Deployment Device (IDD). The IDD will position instruments mounted to its end effector with greater precision than any previous Martian arm. Two dual-use caging mechanisms were designed for the IDD. The mechanisms are very small in size, and act as launch restraints as well as passive cradling (re-stowing) features during rover excursions on the Martian surface. The caging mechanisms are designed to use existing structural elements of the IDD to minimize mass and volume. The design also uses the IDD actuators to deploy and re-stow subsequent to the arm's release from the launch locks. Unique design elements are employed because typical release interfaces, such as those using shear-pins in engagement with spherical bearings, could not be utilized due to volume constraints. The final designs, however, do not sacrifice release performance. A cable-cutter and pin-puller, both with standard NSI pyrotechnic initiators, are used to unlatch the IDD after landing. The cable-cutter is used at the end effector in the area of the IDD instruments, which have the highest susceptibility to pyrotechnic shock. This paper discusses design tradeoffs and considerations for the two mechanisms, reasons for choosing each pyrotechnic device, lubrication methodology, thermal-vacuum system testing, and lessons learned.
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