The Mars 2020 mission seeks to conduct a new scientific exploration on the surface of Mars. The Perseverance Rover will be sent to the surface of the Jezero Crater region to study its habitability, search for biosignatures of past life, acquire and cache samples for potential return, and prepare for possible human missions. To enable these objectives, an innovative Sampling and Caching Subsystem (SCS) has been developed and tested to allow the Perseverance Rover to acquire and cache rock core and regolith samples, prepare abraded rock surfaces, and support proximity science instruments.

The SCS consists of the Robotic Arm (RA), the Turret and Corer, and the Adaptive Caching Assembly (ACA). These elements reside and interact both inside and outside of the Perseverance Rover to enable surface interactions, sample transfer, and caching. The main body of the Turret consists of the Coring Drill (Corer) with a Launch Abrading Bit initially installed prior to launch. Mounted to the Turret main structure are two proximity science instruments, SHERLOC and PIXL, as well as the Gas Dust Removal Tool (gDRT) and the Facility Contact Sensor (FCS). These work together with the RA to provide the sample acquisition, abraded surface preparation, and proximity science functions. The ACA is a network of assemblies largely inside the front belly of the Rover, which combine to perform the sample handling and caching functions of the mission. The ACA primarily consists of the Bit Carousel, the Sample Handling Assembly (SHA), End Effector (EE), Sample Tubes and their Sample Tube Storage Assembly (STSA), Seals and their Dispenser, Volume, and Tube Assembly (DVT), the Sealing Station, the Vision Station, the Cover Parking Lot, and additional supporting hardware. These components attach to the Caching Component Mounting Deck (CCMD) that is integrated with the Rover interior. This work describes these major elements of the SCS, with an emphasis on the functionality required to perform the set of tasks and interactions required by the subsystem. Key considerations of contamination control and biological cleanliness throughout the development of these hardware elements are also discussed.

Additionally, aspects of testing and validating the functionality of the SCS are described. Early prototypes and tests matured the designs over several years and eventually led to the flight hardware and integrated testing in both Earth ambient and Mars-like environments. Multiple unique testbed venues were developed and used to enable testing from low-level mechanism operation through end-to-end sampling and caching interactions with the full subsystem and flight software. Various accomplishments from these testing efforts are highlighted. These past and ongoing tests support the successful preparations of the SCS on its pathway to operations on Mars.

火星2020任务旨在对火星表面进行新的科学探索。该毅力路虎将被发送到兹洛火山口区域的表面，以研究其宜居性，寻找潜在回报过去的生活，获取和缓存样本的生物信号，并为可能的人类任务做准备。为了实现这些目标，已经开发并测试了创新的采样和缓存子系统（SCS），以使恒心漫游者能够采集和缓存岩心和重新碎屑样本，准备磨损的岩石表面并支持邻近科学仪器。

SCS由机械臂（RA），炮塔和Corer以及自适应缓存组件（ACA）组成。这些元素在恒心内部和外部存在并相互作用流动站启用表面交互，样品传输和缓存。炮塔的主体由取芯钻（Corer）组成，该钻芯在发射之前已先安装了发射研磨钻头。安装在炮塔主结构上的是两个接近式科学仪器，SHERLOC和PIXL，以及气体除尘工具（gDRT）和设施接触传感器（FCS）。它们与RA一起提供样品采集，磨蚀的表面处理和邻近科学功能。ACA是一个装配网络，主要位于流动站的前腹部内部，它们组合起来执行任务的样品处理和缓存功能。ACA主要由钻头传送带，样品处理组件（SHA），末端执行器（EE），样品管及其样品管存储组件（STSA），密封件及其分配器组成，容积和管组件（DVT），密封站，视觉站，盖停车场和其他支持硬件。这些组件连接到与流动站内部集成在一起的缓存组件安装平台（CCMD）。这项工作描述了SCS的这些主要元素，并着重于执行子系统所需的一组任务和交互所需的功能。在这些硬件元件的整个开发过程中，还讨论了污染控制和生物清洁度的关键考虑因素。强调执行子系统所需的一组任务和交互所需的功能。在这些硬件元件的整个开发过程中，还讨论了污染控制和生物清洁度的关键考虑因素。强调执行子系统所需的一组任务和交互所需的功能。在这些硬件元件的整个开发过程中，还讨论了污染控制和生物清洁度的关键考虑因素。

此外，还介绍了测试和验证SCS功能的方面。早期的原型和测试使设计成熟了数年，并最终导致了在地球环境和类似火星环境中的飞行硬件和集成测试。开发了多个独特的测试平台，并将其用于从低级机制操作到端到端采样以及与完整子系统和飞行软件的缓存交互进行测试。这些测试工作取得了各种成就。这些过去和正在进行的测试为SCS在火星上运行的成功准备提供了支持。