The “Heat Flow Property Package Instrument” (HP³) is part of NASA’s current Mars mission “InSight”, which was launched in 2018 and currently operates on the surface of Mars. The instrument needs to remain at its initial position and orientation during operation. Although the landing site can have significant tilt and can be covered with low cohesion soil, any mechanical excitation might make the instrument slip. Therefore, the instrument is using a tailored feet design, which can withstand lateral loads. Future instruments might require higher resistance against slip. This can be due to stronger tilted landing sites or due to higher shocks emitted from stronger penetration probes. This paper introduces a novel design for those instruments based on the idea of the “spaced-link track” of Bekker to further minimize slippage. This design concept is originally used on tracks of heavy machinery. It is presented how the major design feature can be incorporated into the current design. A newly developed analytical-numerical model is utilized to estimate the track force of the new design. The paper closes with a design study at which the new design and the current design are compared to each other for different sized feet.

中文翻译：

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使用Bekker的间隔链接轨道提高火星仪器“热流特性封装仪器”（HP3）的后继产品的抗滑性

“热流特性包装工具”（HP ³）是NASA当前火星任务“ InSight”的一部分，该任务于2018年发射，目前在火星表面运行。仪器在操作过程中需要保持其初始位置和方向。尽管着陆点可能会有很大的倾斜，并可能被低内聚力的土壤覆盖，但是任何机械激励都会使仪器滑移。因此，该仪器采用量身定制的支脚设计，可以承受横向载荷。未来的仪器可能需要更高的防滑性。这可能是由于更强的倾斜着陆点或由于更强的穿透探头发出的更大震动所致。本文基于Bekker的“间隔链接轨道”的思想，为这些乐器介绍了一种新颖的设计，以进一步减小滑移。此设计概念最初用于重型机械的轨道。它介绍了如何将主要设计功能合并到当前设计中。新开发的解析数值模型用于估算新设计的跟踪力。本文以设计研究作为结尾，在该研究中，针对不同尺寸的脚将新设计和当前设计进行了比较。