A minimum scale architecture for rover-based sample acquisition and caching

The Minimum Scale Sample Acquisition and Caching (MinSAC) architecture has been developed to enable rover-based sample acquisition and caching while minimizing the system mass. The MinSAC architecture is a version of the previously developed Integrated Mars Sample Acquisition and Handling (IMSAH) architecture. The MinSAC implementation utilizes the sampling manipulator both for sampling and sample tube transfer. This significantly reduces the number of actuators in the sample acquisition and caching subsystem. A core sample is acquired directly into its sample tube in the coring bit. The bit is transferred and released on the rover. A tube gripper on the robotic arm turret pulls the filled sample tube out of the back of the coring bit and the tube is sealed. The sample tube is then placed in the return sample canister. A new tube is placed in the bit for acquisition of another sample.