72 Conclusion  

Despite a very rocky path filled with potholes and obstacles , CSEM managed to lead the development of  the CLUPI Focus mechanism up to delivery and integration within the instrument. The mechanism  qualification campaign showed that it can survive all the mission environment  requirements. Its mechanism  performance was measured to be acceptable and this was confirmed during the instrument calibration  campaign performed by ESA and the Space exploration Institute. The mechanism reliability was deemed  acceptable even if it is greatly impacted by the sensitivity of the launch locking mechanism to the resetting  procedure.  

Overcoming these  issues lead to a successful development from which a lot of lessons were learnt. This  was only made possible by an efficient collaboration between CSEM and its dedicated partners: Space  Exploration Institute, Thal es Alenia Space Switzerland , ESA, EATON, Singer Instrument Ltd, Petitpierre  SA, Arcofil SA and Fisba Optics AG.  

Presently, the mechanism was successfully integrated onto the CLUPI flight model which was mounted  onto the ExoMars rover drill. Hopefully, with a launch currently planned for July 2020, the first images of  the Martian ground taken by CLUPI and its focus mechanism will be acquired in spring 2021.  

References  

1. Josset, J. -L., Westall, F., Hofmann, et al. (2017). The Close- Up Imager Onboard the ESA ExoMars  Rover: Objectives, Description, Operations, and Science Validation Activities. Astrobiology , 17, 595– 611. https://doi.org/10.1089/ast.2016.1546  

2. Verhaeghe, A., Perruchoud, G., Schwab, P., Gumy, M. (2019 ). Challenges of the development of a  compliant Focus Mechanism submitted to the harsh Martian environment for the ExoMars Rover  mission. Presented at Final Presentation Day, ESTEC, Noordwijk.  

3. Verhaeghe, A., Perruchoud, G., Schwab, P., Gumy, M. (2017). Development Challenges of a Focus  Mechanism Design for ExoMars Mission Submitted to the Harsh Martian Environment and Utilizing  Off-the-Shelf Equipment. In 17th E uropean Space Mechanisms and Tribology Symposium. Presented  at the ESMATS, Hartfield. http://esmats.eu/esmatspapers/pastpapers/pdfs/2017/verhaeghe.pdf  

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5. Yoon, J., Betancourt, R. (2019). Battery Cell Bypass Switches – A Case Study in Test Like You Fly  Merits. In 18th European Space Mechanisms and Tribology Symposium. Presented at the ESMATS,  Munich. http://esmats.eu/esmatspapers/pastpapers/pdfs/2019/yoon.pdf  

6. Verhaeghe, A., Perruchoud, G., Schwab, P., Gumy, M., Rouvinet, J. (2019). Lessons Learnt during the  Development of a compliant Focus Mechanism for the EXOMARS Rover Mission. In 18th European  Space Mechanisms and Tribology Symposium . Presented at the ESMATS, Munich.  http://esmats.eu/esmatspapers/pastpapers/pdfs/2019/verhaeghe.pdf