InSight Instrument Deployment Arm

The Mars InSight (Interior Exploration using Seismic Investigations, Geodesy and Heat Transport) Program will utilize a special lightweight robotic arm termed the Instrument Deployment Arm (IDA). This paper will focus on the mechanical implementation of the IDA.The IDA originated as the robotic arm built for the Jet Propulsion Laboratory (JPL) for the cancelled Mars 2001 Surveyor mission in 1998. The IDA is slated for refurbishment, followed by subsystem testing of its actuators, and then system testing of the full arm.This paper will delve into the specifics of the IDA electro-mechanical design, which includes light-weight actuators, multi-conductor flex-print cable, and a self- triggered launch-restraint system. The history of the design, which draws from elements as far back as the Mars Pathfinder Sojourner rover, will be discussed.Also discussed will be the specifics of the refurbishment, decisions made governing the level of refurbishment enacted, and planned post-refurbishment testing.