This image shows what happened underneath NASA Phoenix Mars Lander Robotic Arm wrist on Sol 3. The pin that goes through the loop is what holds the wrist in place. The rotation of the wrist pops the pin free.
Animation of Phoenix Wrist Unlatching
This image shows what happened underneath NASA Phoenix Mars Lander Robotic Arm wrist on Sol 3. The pin that goes through the loop is what holds the wrist in place. The rotation of the wrist pops the pin free.