The Sample Manipulation System (SMS), delivered to NASA Goddard Spaceflight Center in 2008, is a precision positioning subsystem of the Sample Analysis at Mars (SAM) instrument suite on the 2011 Mars Science Laboratory (MSL) mission. The SMS plays an integral role in the path of a sample from the Martian surface to the analytical instruments within SAM. The system provides 74 quartz cells for accepting, storing, and delivering the samples to the science suite.
- SMS features an underactuated three-DOF mechanism with a compliant linear actuator and a high-reduction, low-backlash rotary actuator capable of precision operation across wide temperature ranges and during steep temperature gradients.
- A custom twist capsule transmits sensor signal across the rotary interface.
- The multi-modal fault detection and correction scheme along with a tightly integrated set of feedback sensors includes a custom incremental encoder that doubles as an alignment sensor.
- Sample cells are sealed in a pyrolysis oven, pressing the cell's copper collar into a knife-edge seal with a force of up to 250lb. The sample is then heated to 1100°C for analysis.
- Compliance with astrobiologically strict contamination limits