Soil Properties Analysis of the Phoenix Landing Site Based on Trench Characteristics and Robotic Arm Forces

Details Soil Properties Analysis of the Phoenix Landing Site Based on Trench Characteristics and Robotic Arm Forces Soil Properties Analysis of the Phoenix Landing Site Based on Trench Characteristics and Robotic Arm Forces

Dec 2008

adsabs.harvard.edu/cgi-bin/nph-data_query?bibcode=2008agufm.u11b0021s&link_type=abstract

American Geophysical Union, Fall Meeting 2008, abstract #U11B-0021

Physics

5460 Physical Properties Of Materials, 5470 Surface Materials And Properties, 6225 Mars

Scientific paper

The Phoenix Mars lander has had access to polygonal terrain; specifically, two polygons and a trough. Slopes in the trenches and dump piles created from the interaction of the Phoenix robotic arm (RA) with the soil around its landing site are similar to those seen on previous missions, such as the MER and Viking missions. This indicates similar cohesion and angle of internal friction to previous landing sites. For example, trench slopes typically range from 44-72° and dump pile slopes range from 20-30°. There are at least two very different types of materials at the site: a layer of soil which goes down to several centimeters below the surface and, below that, a layer of icy soil. The RA can easily dig through the top layer of soil, often using 20-30N force. However, when it encounters icy soil, the RA requires tens of scrapes with the lower tungsten carbide blade on its scoop to progress even a few millimeters. To verify soil property parameters, we analyze the normal and shear stresses exerted on the soil by digging, scraping, and rasping with the RA.

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