Ashitey Trebi-Ollennu
NASA Jet Propulsion Laboratory, USA
Title: The InSight Mission: Instrument Deployment Robotic System
Biography
Biography: Ashitey Trebi-Ollennu
Abstract
The InSight (Interior Exploration using Seismic Investigations, Geodesy and Heat Transport) Mars Lander Mission science
goal is to understand the formation and evolution of terrestrial planets through investigation of the interior structure and
processes of Mars. Th e science payload for InSight consist of a seismometer, heat fl ow probe and a precision tracking system to
measure the size and state of the core, mantle and crust. Additional payload includes a meteorology package, a magnetometer,
two color cameras and a 4 DOF robotic with a grapple at the end-eff ector. Th e InSight Instrument Deployment System (IDS)
is comprised of the Instrument Deployment Arm (IDA), arm-mounted Instrument Deployment Camera (IDC), landermounted
Instrument Context Camera (ICC) and control soft ware. Th e IDS is responsible for precision instrument placement
(seismometer and heat fl ow probe) on a planetary surface that will enable scientist to perform the fi rst comprehensive surfacebased
geophysical investigation of Mars. IDA has 1.9 m reach with four degrees of freedom: Yaw (shoulder azimuth) and three
pitch joints (shoulder elevation, elbow and wrist). Each joint has a temperature sensor and heater with a dust seal to prevent
contamination of the motor and gearbox. IDC allows visual confi rmation of deployment steps, as well as acquisition of the
stereo image pairs used to create a 3D map of the workspace. IDC also provides engineering images of solar arrays, payload
deck and instruments. ICC provides context images and redundant worksite imagery. Th is talk will give a brief overview of
InSight IDS and present test results and operations challenges for this fi rst of kind instrument placement and installation on
the Martian surface.