Computer Science – Robotics
Scientific paper
Nov 1994
adsabs.harvard.edu/cgi-bin/nph-data_query?bibcode=1994stin...9514910b&link_type=abstract
Annual Technical Report, Oct. 1993 - Nov. 1994 Martin Marietta Corp., Denver, CO. Payloads Sensors and Instruments.
Computer Science
Robotics
End Effectors, Manipulators, Mars Surface, Robot Arms, Robotics, Sampling, Actuators, Mars Environment, Robot Control, Shape Memory Alloys
Scientific paper
This report details the interim progress for contract NASW-4818, Sample Acquisition and Instrument Deployment (SAID), 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. A passively braked shape memory actuator with the ability to measure load has been developed. The wrist also contains a mechanism which locks the lid output to the bucket so that objects can be grasped and released for instrument deployment. The wrist actuator has been tested for operational power and mechanical functionality at Mars environmental conditions. The torque which the actuator can produce has been measured. Also, testing in Mars analogous soils has been performed.
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