439 from ADAMS models for the deployment. Results indicated that flexure contact would only occur if the  worst -case initial differential of fset and rotational rate are increased by a factor of 2.6 while the CDPR is in  this fault case configuration. This was determined to be sufficient margin against extreme environmental  cases that the CDPR would win the race condition.  

Table 1 – EM prototype and developmental testing matrix in order of execution   Test Type  Test Objective(s)  Outcomes   EM Flexure  Characterization  Characterize stiffness at operational/non- operational  qualification temperatures and tensile residual  strength of the first flexure prototype  Successful, no anomalies   EM Thermal  Functional Testing  Demonstrate full deployment mechanism capability at  operational/non- operational qualification temperatures  in both nominal and fault configuration  Successful, no anomalies   EM Dirty Testing  Demonstrate full deployment mechanism capability  while in a dirty environment from regolith kicked up  during powered descent of EDL  Successful, no anomalies   Flight -like Flexure  Characterization and  Buckling  Characterize stiffness and buckling capability up to  1.20x and 1.40x FLL, respectively, at room  temperature and respective operational temperatures.  Successful, no anomalies   Loaded Deployment  Testing Demonstrate full deployment mechanism capability  under 1.20x FLL  Anomaly:  jamming observed during  compressively loaded deployment, identified  race condition in CDPR deployment.   Magnet Thermal  Testing  Characterize thermal effects on magnet installed in  the hard stop  Successful, confirmed thermal concerns for  neodymium  

Table 2 – DTM and FM V&V test matrix in order of execution   Test Type  Test Objective(s)  Outcomes   DTM and FM Flexure Characterization Characterize spring rate of DTM and FM Flexure to 1.2x  and 1.0x FLL,  respectively  at operational/non- operational  temperatures .  Successful, no  anomalies   DTM and FM Vacuum Bakeout  Thermally eliminate contamination and outgas any  volatiles prior to launch  Successful, no  anomalies   DTM CDPR Random Vibration (assembly level)  Demonstrate structural capability against protoflight  launch environment  Successful, no  anomalies   DTM Therm al Functional Testing  Demonstrate full deployment mechanism capability at  operational/non- operational qualification temperatures in  both nominal and fault configuration  Successful, no  anomalies   FM Thermal Functional Testing Demonstrate full deployment me chanism capability at  operational/non- operational hot/cold flight acceptance  temperatures  Successful, no  anomalies   FM CDPR Random Vibration (Power Decent  Vehicle Level)  Demonstrate structural capability against protoflight  launch environment  Successful,  no  anomalies   DTM Mobility Deploy  Demonstrate full dampening of the resultant load during  rover asymmetric mobility deployment and full CDPR  deployable functionality in earth gravity  Successful, no  anomalies   DTM Rover Chassis and Differential  Qualification Static Test  Structurally quali fy the entirety of CDPR by demonstrating  strength capability up required 1.20x FLL  Successful, no  anomalies   DTM Rover Chassis and Differential  Qualification Static Test – CDPR Deployment  Demonstrate full deployment mechanism capability under  required 1. 20x FLL  Successful, no  anomalies