&lt;title&gt;Mars lander robotics and machine vision capabilities for in-situ planetary science&lt;/title&gt;

Schenker, Paul S.; Blaney, D. L.; Brown, David K.; Bar‐Cohen, Yoseph; Lih, Shyh-Shiuh; Lindemann, R.; Paljug, E.; Slostad, Jeffrey; Tharp, Gregory K.; Tucker, Curtis; Voorhees, Christopher; Weisbin, C.R.; Baumgartner, Eric T.; Singer, R. B.; Reid, Robert J.

doi:10.1117/12.222667

Cited by 7 publications

(6 citation statements)

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“…The RA ( Figure 2) is a 4-degree-of-freedom manipulator with a back-hoe design that provides motion about shoulder yaw (azimuth), shoulder elevation, elbow, and wrist pitch [4]. The arm was designed to withstand the harsh environment at the landing site: diurnal temperature excursions from -90° to -20°C, CO 2 atmosphere, pressure as low as 5 Torr.…”

Section: Mechanical Overviewmentioning

confidence: 99%

The Phoenix Mars Lander Robotic Arm

Bonitz

Shiraishi

Robinson

et al. 2009

2009 IEEE Aerospace Conference

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Section: Mechanical Overviewmentioning

confidence: 99%

The Phoenix Mars Lander Robotic Arm

Bonitz

Shiraishi

Robinson

et al. 2009

2009 IEEE Aerospace Conference

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“…[13] As noted, the RA (Figure 1) is a 4-degree-of-freedom manipulator with a back-hoe design that provides motion about shoulder yaw (azimuth), shoulder elevation, elbow, and wrist pitch [Schenker et al, 1995]. The arm links are made of aluminum with titanium end fittings.…”

Section: Ra/isad As a Science Instrumentmentioning

confidence: 99%

NASA Mars 2007 Phoenix Lander Robotic Arm and Icy Soil Acquisition Device

et al. 2008

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The primary purpose of the Mars 2007 Phoenix Lander Robotic Arm (RA) and associated Icy Soil Acquisition Device (ISAD) is to acquire samples of Martian dry and icy soil (DIS) by digging, scraping, and rasping, and delivering them to the Thermal Evolved Gas Analyzer and the Microscopy, Electrochemistry, and Conductivity Analyzer. The RA will also position (1) the Thermal and Electrical Conductivity Probe (TECP) in the DIS; (2) the TECP at various heights above the surface for relative humidity measurements, and (3) the Robotic Arm Camera to take images of the surface, trench, DIS samples within the ISAD scoop, magnetic targets, and other objects of scientific interest within its workspace. The RA/ISAD will also be used to generate DIS piles for monitoring; conduct DIS scraping, penetration, rasping, and chopping experiments; perform compaction tests; and conduct trench cave‐in experiments. Data from the soil mechanics experiments will yield information on Martian DIS properties such as angle of repose, cohesion, bearing strength, and grain size distribution.

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“…The MVACS Robotic Arm (see Figure 1) is a 4-degree-offreedom manipulator with a backhoe design providing motion about shoulder yaw (azimuth) and shoulder, elbow, and wrist pitch [Schenker, et al, 1995]. The arm links are made of a lowmass graphite-epoxy composite.…”

Section: Hardwarementioning

confidence: 99%