will dig a trench up to one meter deep and acquire samples
for TEGA and MECA; RAC will document the trench and acquired
RA and RAC were delivered to the MSP'01 project and are
in bonded stores at JPL. The RA is a 2 m. long, 4 degree-of-freedom
(DOF) device constructed of graphite-epoxy links and aluminum
joint housings. Joint actuators are heated DC motors with
2-stage drive trains. The typical end-effector force is
80N. The ripper tines used for the MVACS Mars 98 scoop
will replace the M01 scoop blade. An 8051 processor
provides low-level motor and heater commands, monitors state
sensors and provides reflex current limiting/shutdown control.
Trajectory generation, motion control, telemetry, and fault
management is handled by the Lander computer. A 12-bit A/D
converter processes sensor signals. The RAC attaches
to the wrist of the RA. One motor moves the focus from 10
mm to infinity, while a second opens and closes a transparent
dust cover. RAC magnification is 1:1 at closest focus. LEDs
provide 3-color illumination forcolor images. Viewing the
same scene from two orientations provides stereo imaging.
An electronicscard in the Payload Electronics Box drives
both RAC and the MECA microscope.
is guided by the SSI DEM and by RAC stereo images. Samples
will be obtained by scooping small portions of the trench
bottom, using RAC images to guard against contamination
from cave-ins. The RAC will image all collected samples
(as part of TEGA and MECA documentation), the soil at the
tip of the scoop, close-up views of the dump pile, and walls
of trenches deeper than 20 cm. Attempts will be made to
move nearby rocks with the RA and examine their surface
textures with RAC. The RAC can also act as a stereoscopic
camera with 2 mrad/pixel resolution.