Results from InSight Robotic Arm Activities

The InSight lander carried an Instrument Deployment System (IDS) that included an Instrument Deployment Arm (IDA), scoop, five finger “claw” grapple, forearm-mounted Instrument Deployment Camera (IDC) requiring arm motion to image a target, and landermounted Instrument Context Camera (ICC), designed...

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Veröffentlicht in:Space science reviews Jg. 219; H. 3; S. 20
Hauptverfasser: Golombek, M., Hudson, T., Bailey, P., Balabanska, N., Marteau, E., Charalambous, C., Baker, M., Lemmon, M., White, B., Lorenz, R. D., Spohn, T., Maki, J., Kallemeyn, P., Garvin, J. B., Newman, C., Hurst, K., Murdoch, N., Williams, N., Banerdt, W. B., Lognonné, P., Delage, P., Lapeyre, R., Gaudin, E., Yana, C., Verdier, N., Panning, M., Trebi-Ollennu, A., Ali, K., Johnson, C., Langlais, B., Warner, N., Daubar, I. J., Ansan, V., Banfield, D.
Format: Journal Article
Sprache:Englisch
Veröffentlicht: Goddard Space Flight Center Springer 01.04.2023
Springer Netherlands
Springer Nature B.V
Springer Verlag
Schlagworte:
Aerospace Technology and Astronautics
Astrophysics
Astrophysics and Astroparticles
Cameras
Cleaning
Computer Science
Cybernetics, Artificial Intelligence and Robotics
Dispersion
Dumping
Dust
Earth and Planetary Astrophysics
Elastic properties
Geology
Indentation
Instrumentation and Methods for Astrophysic
Mars surface
Meteorology
Panels
Physical properties
Physics
Physics and Astronomy
Planetology
Plastic deformation
Project development
Robot arms
Robotics
Saltation
Sciences of the Universe
Scoops
Seismographs
Seismometers
Soil investigations
Soil mechanics
Soil properties
Solar arrays
Solar collectors
Sols
Space Exploration and Astronautics
Space Sciences (including Extraterrestrial Physics
Special Communication
Tethers
Wind speed
Soil Mechanics
Mars
Eolian
Insight Mission
Geology
Arm Activities
InSight mission
Eolian activity
Soil mechanics
Arm activities
ISSN:0038-6308, 1572-9672
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Zusammenfassung:The InSight lander carried an Instrument Deployment System (IDS) that included an Instrument Deployment Arm (IDA), scoop, five finger “claw” grapple, forearm-mounted Instrument Deployment Camera (IDC) requiring arm motion to image a target, and landermounted Instrument Context Camera (ICC), designed to image the workspace, and to place the instruments onto the surface. As originally proposed, the IDS included a previously built arm and flight spare black and white cameras and had no science objectives or requirements, or expectation to be used after instrument deployment (90 sols). During project development the detectors were upgraded to color, and it was recognized that the arm could be used to carry out a wide variety of activities that would enable both geology and physical properties investigations. During surface operations for two martian years, the IDA was used during major campaigns to image the surface around the lander, to deploy the instruments, to assist the mole in penetrating beneath the surface, to bury a portion of the seismometer tether, to clean dust from the solar arrays to increase power, and to conduct a surface geology investigation including soil mechanics and physical properties experiments. No other surface mission has engaged in such a sustained and varied campaign of arm and scoop activities directed at such a diverse suite of objectives. Images close to the surface and continuous meteorology measurements provided important constraints on the threshold friction wind speed needed to initiate aeolian saltation and surface creep. The IDA was used extensively for almost 22 months to assist the mole in penetrating into the subsurface. Soil was scraped into piles and dumped onto the seismometer tether six times in an attempt to bury the tether and ∼ 30% was entrained in the wind and dispersed downwind 1-2 m, darkening the surface. Seven solar array cleaning experiments were conducted by dumping scoops of soil from 35 cm above the lander deck during periods of high wind that dispersed the sand onto the panels that kicked dust off of the panels into suspension in the atmosphere, thereby increasing the power by ∼15% during this period. Final IDA activities included an indentation experiment that used the IDA scoop to push on the ground to measure the plastic deformation of the soil that complemented soil mechanics measurements from scoop interactions with the surface, and two experiments in which SEIS measured the tilt from the arm pressing on the ground to derive near surface elastic properties.
Bibliographie:GSFC
Goddard Space Flight Center
ObjectType-Article-1
SourceType-Scholarly Journals-1
ObjectType-Feature-2
content type line 14
ISSN:0038-6308
1572-9672
DOI:10.1007/s11214-023-00964-0