TAGSAM

Overview

TAGSAM is a robotic arm attached to the main body of the spacecraft that collects a sample from the asteroid, and puts the samples into the Earth return vehicle. Bennu is about 500 meters in diameter and has very low gravity, so the arm must perform the collection in near zero gravity, yet still contend with some gravitational forces from the asteroid. One issue with small asteroids is their unique gravitational environment, and Bennu became the smallest body orbited by a spacecraft.

TAGSAM was designed to take up to three samples from the asteroid, although in the event the first sample was so large no other samples were attempted. The collection head was filled using a nitrogen gas injection that stired up the regolith. The arm is about 11 feet (3.4 meters) long, with three joints for articulation. SamCam acquires images of the collection head. Two major parts of TAGSAM are the robotic arm and the sample collection head.

The arm was used in conjunction with several instruments on the spacecraft including three cameras, three spectrometers, and a laser altimeter.

Two identical TAGSAM units were made, one for use on the spacecraft called the flight unit, and another for testing on Earth called the qualification unit.