Abstract
An end-to-end sample acquisition and caching system has been built and tested with capabilities applicable to sample acquisition and caching for a potential 2018 mission to Mars to collect samples for eventual return to Earth. The system provides full capability to robotically perform the end-to-end sample acquisition and caching process including placing a sample tube in a coring bit, attaching the bit to the sampling tool, coring a rock and acquiring the core sample in the tube, transferring the bit to the caching mechanism, removing the sample tube from the bit, sealing the filled sample tube with a plug, and storing the tube in the sample cache canister. This paper describes the hardware and robotic steps for the sample acquisition and caching process.
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