The presentation will describe the Perseverance mission with emphasis on the sample caching robotic systems. Perseverance sample caching robotic systems is a first-of-a-kind system and the most complex flight robotics systems developed by NASA.
Perseverance sample caching robotic systems consists of two robotic systems: the external robotic system includes the Robotic Arm and a multi-purpose drill used to support proximity science by removing the weathered outer layer of the Martian surface using an abrading bit and positioning turret-mounted science instruments within a few cm of the surface, as well as acquiring core and regolith samples. The internal robotic system, Sample Handling Assembly (SHA) is mounted in the Adaptive Caching Assembly (ACA). The SHA manipulates each tube to document the sample, hermetically seal it, and prepare it for future pick-up.