A main-belt asteroid sample return without landing on the asteroid is proposed. The spacecraft collects the sample during the asteroid  yby, crossing the dust cloud produced by a projectile, and delivers the sample to the Earth. To lower the launch energy, the spacecraft uses a Venus and Earth gravity assist trajectory type maneuver. Five launch windows in the 2004–2010 period are considered, offering several mission options, with the respective results of the trajectory design. Most mission options offer other asteroid encounters in addition to the primary target. On completion of the primary sample return mission, the spacecraft can swing by the Earth to  y by additional asteroids or a comet. Secondary targets and possible mission extensions are considered for some of the mission options. Spacecraft navigation and the projectile targeting are also discussed, as well as estimates of the mass of the sample to be collected. The sample ejection considers two projectile types: passive, using only the impact energy, and active, carrying an explosive inside.