Sample Manipulation System for Sample Analysis at Mars  Erik Mumm*, Tom Kennedy*, Lee Carlson* and Dustyn Roberts* Abstract  The Sample Analysis at Mars (SAM) instrument will analyze Martian samples collected by the Mars  Science Laboratory Rover with a suite of spectrometers. This paper discusses the driving requirements,  design, and lessons learned in  the development of the Sample Manipulation System (SMS) within SAM.  The SMS stores and manipulates 74 sample cups to be used for solid sample pyrolysis experiments. Focus is given to the unique mechanism architecture developed to deliver a high packing density of  sample cups in a reliable, fault tolerant manner while minimizing system mass and control complexity.  Lessons learned are presented on contamination control, launch restraint mechanisms for fragile sample cups, and mechanism test data.   Introduction  The Mars Science Laboratory (MSL) currently scheduled for a Fall 2009 launch is NASA’s next roving  mission to Mars. The rover is equipped with several instruments designed to assess the habitability of Mars, both past and present. One of the instruments, Sample Analysis at Mars (SAM) provided by  Goddard Space Flight Center consists of a Gas Chromatograph Mass Spectrometer, Quadropole Mass  Spectrometer, and Tunable Laser Spectrometer. Both atmospheric and solid samples can be analyzed by  SAM. SAM’s Sample Manipulation System (SMS) stores and manipulates sample cups used for  experiments involving solid samples.  The SMS is a first generation flight system. The SMS is responsible for controlled manipulation of the  sample from SAM’s sample inlet device to pyrolysis ovens, where samples are pyrolyzed and evolved gasses plumbed to the analytical suite. Seventy-four sample cups are populated in two polar arrays on  the SMS carousel. Cups may be re-used in an extended mission scenario. Once  inserted into the  pyrolysis oven, the SMS applies a pred etermined force to create a hermetic seal between the sample cup  and the interior of the oven. The sensitivity of SAM’s spectrometers require the SMS to be very clean so  as not to contaminate Martian samples and produce false positives or mask sample signatures with  known outgassers within the SMS.     This paper covers the design, test, and preliminary le ssons learned during the  development of the SMS.  Concentration is centered on  the overall design of the SMS that includes several mechanisms. Lessons  learned from contamination control, and results from environmental testing are presented.   SMS Design  Driving Requirements The purpose of the SMS is to store and manipulate sample cups used to analyze solid samples with  SAM’s instrument suite. The SMS, Figure 1 ,accepts solid sample from the MSL rover via SAM’s Solid  Sample Inlet Device into any of 74 sample cups and transports the selected sample cup to a pyrolysis oven. Once the SMS inserts the sample cup into the oven, it creates a seal force sufficient to provide a  leak rate between the cup and the oven less than 1E-5 cc He/sec. The SMS must consume less than 6Watts continuous and 18 -Watts peak power.  The sample cups are separated into three categories: solid sample quartz cups (60), foil topped metal  cups for wet chemistry experiments (10), and foil topped metal cups containing calibration sample (4). The SMS must position each cup within 0.71 mm true position at multiple interfaces including the solid  *Honeybee Robotics Spacecraft Mechanisms Corporation, New York, NY Proceedings of the 39th Aerospace Mechanisms Symposium, NASA Marshall Space Flight Center, May7-9, 2008. 303