The InSight Mars Lander is equipped with an Instrument Deployment System (IDS) and science payload with accompanying auxiliary peripherals mounted on the Lander. The InSight science payload includes a seismometer (SEIS) and Wind and Thermal Shield (WTS), heat flow probe (Heat Flow and Physical Properties Package, HP3) and a precision tracking system (RISE) to measure the size and state of the core, mantle and crust of Mars. The InSight flight system is a close copy of the Mars Phoenix Lander and comprises a Lander, cruise stage, heatshield and backshell. The IDS comprises an Instrument Deployment Arm (IDA), scoop, five finger “claw” grapple, motor controller, arm-mounted Instrument Deployment Camera (IDC), lander-mounted Instrument Context Camera (ICC), and control software. IDS is responsible for the first precision robotic instrument placement and release of SEIS and HP3 on a planetary surface that will enable scientists to perform the first comprehensive surface-based geophysical investigation of Mars’ interior structure. This paper describes the design and operations of the Instrument Deployment Systems (IDS), a critical subsystem of the InSight Mars Lander necessary to achieve the primary scientific goals of the mission including robotic arm geology and physical properties (soil mechanics) investigations at the Landing site. In addition, we present test results of flight IDS Verification and Validation activities including thermal characterization and InSight 2017 Assembly, Test, and Launch Operations (ATLO), Deployment Scenario Test at Lockheed Martin, Denver, where all the flight payloads were successfully deployed with a balloon gravity offload fixture to compensate for Mars to Earth gravity.

中文翻译：

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InSight Mars Lander Robotics 仪器部署系统

洞察号火星着陆器配备了仪器部署系统 (IDS) 和科学有效载荷，以及安装在着陆器上的辅助外围设备。InSight 科学有效载荷包括地震仪 (SEIS) 和风和热屏蔽 (WTS)、热流探头（热流和物理特性包，HP3）和精确跟踪系统 (RISE)，用于测量核心的大小和状态，火星的地幔和地壳。洞察号飞行系统是火星凤凰着陆器的一个近似复制品，包括着陆器、巡航级、隔热板和后壳。IDS 包括仪器部署臂 (IDA)、铲子、五指“爪”抓斗、电机控制器、安装在臂上的仪器部署摄像头 (IDC)、安装在着陆器上的仪器背景摄像头 (ICC) 和控制软件。IDS 负责在行星表面放置和释放 SEIS 和 HP3 的第一个精密机器人仪器，这将使科学家能够对火星内部结构进行第一次全面的基于表面的地球物理调查。本文描述了仪器部署系统 (IDS) 的设计和操作，这是洞察号火星着陆器的关键子系统，是实现任务的主要科学目标所必需的，包括着陆点的机械臂地质和物理特性（土壤力学）调查. 此外，我们还提供了飞行 IDS 验证和验证活动的测试结果，包括热表征和洞察力 2017 组装、测试和发射操作 (ATLO)、在丹佛洛克希德马丁的部署场景测试、