This section contains the definitions of the Solar Arrays (SA) frames
as specified in [7].
Zero angle when the primary panels are in the nominal fully deployed position with normal to the PVA face parallel to +ZRB.
Positive rotations deploy the primary panels from their stowed positions: right side hinges rotate clockwise about +XRB and left side hinges rotate anticlockwise about +XRB using right-hand grip rule.
Secondary Hinge deployment axis rotation convention is:
Zero angle when the secondary panels are in the nominal fully-deployed position with normal to the PVA face parallel to +ZRB.
Positive rotations deploy the secondary panels from their stowed positions below the primary panels: when the primary panels are deployed to -90deg the right side secondary hinges rotate anticlockwise about +ZRB and left side secondary hinges rotate clockwise about +ZRB using right-hand grip rule.
The RM has two groups of SA panels, the Right SA and the Left SA. Each
group consists of two panels (in addition to the panels present on top
of the RM body): the primary and the secondary panel -- RM_SA+Y_PRI,
RM_SA+Y_SEC and RM_SA-Y_PRI RM_SA-Y_SEC --, these two panels are
connected by hinges that allow them ro rotate (and thus be deployed).
For each panel, the conventions for the hinge depoyment axis are the
following:
The Drill is in charge of extracting the samples from the Mars subsurface
and delivering them to the Core Sample Transport Mechanism (CSTM), such
that they are transported inside the Analytical Laboratory Drawer (ALD),
where they are processed and analysed by the scientific instruments.
The drill implements a multi-rod concept to allow drilling and sample
collection down to 2 meter depth.
The Primary Hinge deployment axis rotation convention is:
The drill string is composed, at its maximum length, of a drill tool
(with sample collection capability) and three extension rods. Three
``main'' active joints are needed to accomplish the Drill operations:
- Zero angle when the primary panels are in the nominal fully
deployed position with normal to the PVA face parallel to +ZRB.
- Positioner Translation Joint, which allows all the translational
movements of the Drill box.
- Positive rotations deploy the primary panels from their stowed
positions: right side hinges rotate clockwise about +XRB and
left side hinges rotate anticlockwise about +XRB using
right-hand grip rule.
- Positioner Rotational Joint, which allows all the rotational
movements of the Drill box.
The Secondary Hinge deployment axis rotation convention is:
- Drilling Joint, which groups several mechanisms devoted to the drill
rod insertion in the terrain (drilling/coring).
- Zero angle when the secondary panels are in the nominal
fully-deployed position with normal to the PVA face parallel
to +ZRB.
- Positive rotations deploy the secondary panels from their stowed
positions below the primary panels: when the primary panels are
deployed to -90deg the right side secondary hinges rotate
anticlockwise about +ZRB and left side secondary hinges rotate
clockwise about +ZRB using right-hand grip rule.
The following frames implement the definitions provided below.
The SA Fixed frame -- RM_ALD_PSHS_FXD -- is attached to the Powder
Sample Handiling System and is invariant to the PSHS mechanism position.
It is defined as follows:
- +X axis is nominally co-aligned with the RM_ROVER +X axis frame;
- +Y axis is nominally co-aligned with the RM_ROVER +Y axis frame;
- +Z axis completes the right-handed frame;
- The origin is located in the geometrical centre of the PSHS, defined
as the intersection of the PSHS mechanism rotation axis and the PSHS
