Dynamics associated with the Corer on M2020 Perseverance Rover

摘要

This paper will report on the development of the Dynamics specifications for the Corer on Mars 2020. The corer is a critical piece of the M2020 mission, leading into the planned Mars Sample Return campaign. However, the configuration of the rover places it on the turret of the Robotic Arm assembly, and near to several science sensors (PIXL, SHERLOC) which are also mounted to the Turret. This paper will provide some similarities and differences to the MSL drill. Details in the development, evolution, and verification of the Dynamics specifications will be described in detail, including the hardware which had to meet these challenging specifications. In addition, the special testing venues used throughout the development & verification of M2020 (EDU corer, EM actuators, HALT testing [simulation of coring dynamics], and QMDT) will be described.