Computer Science – Robotics
Scientific paper
Oct 1995
adsabs.harvard.edu/cgi-bin/nph-data_query?bibcode=1995lock.reptr....b&link_type=abstract
Final Report, Oct. 1993 - Oct. 1995 Lockheed Martin Corp., Denver, CO.
Computer Science
Robotics
Manipulators Robotics, Mars Environment, Mars Surface Samples, Robot Arms, Soil Sampling, Actuators, Deployment, End Effectors, Instrument Packages, Joints (Junctions), Shape Memory Alloys
Scientific paper
Progress 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.
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