Lunar Rover with Multiple Science Payload Handling Capability
- Paper number
IAC-08.A3.2.B10
- Author
Dr. Bernd Schäfer, German Aerospace Center (DLR), Germany
- Coauthor
Mr. Aravind Seeni, German Aerospace Center (DLR), Germany
- Year
2008
- Abstract
Robotically based missions to the Moon and other celestial objects to carry out science investigations are currently being considered by the German Space Agency. Scientifically driven investigations for planetary in-situ exploration on moon, mars, and asteroids cover areas of geology, geophysics, geochemistry, and astronomy. One of the key elements in space exploration is achieving mobility and manipulability on the surface. Being mobile and manipulable, allows a wide variety of scientific tasks to be accomplished in one single mission, such as those mentioned in the four key areas. These capabilities will drive the design of the robotic elements to support these functions and to guarantee for mission success. Light-weight and powerful mechatronic components and intelligent systems are therefore a prerequisite. DLR’s Robotics and Mechatronics Institute since many years already has been following these major issues by developing highly integrated robots and many different kind of mechatronic systems, not only for space applications. This paper addresses DLR’s most important robotic developments to be used for planetary mobile exploration, and tries to give a vision for their potential use in more advanced long-term future exploration missions. As an example for the design of a mobile system taylored for multiple science payload handling, a rover study as part of the project Lunar Robotic Payload (LUROP) was undertaken in close collaboration with national space industry (KayserThrede, Munich) and supported by German Space Agency. As a result, a multi-purpose rover with significantly advanced manipulative capabilities compared to present day rovers was proposed. The requirements for the rover to be able to ‘multi-task’ allowed us to concur with the idea of having unique features in manipulation and payload handling abilities. A scenario accomplishing the following tasks was developed: (1) regolith collection, storage, and transfer to an independent ISRU-Demonstrator package, (2) placement of two astronomy dipoles on lunar surface with suitable clearance between them, (3) collection and transfer of samples to lander instruments for analysis, and (4) positioning of instruments including APXS, RAT, Microscopic camera and Mössbauer spectrometer on lunar rocks and soil. To perform all these tasks it is required to develop and to carry a variety of tools that are to be replaced and exchanged in the arm’s end. The different end-effectors tools considered include modern terrestrial as well as under-development devices. Some examples are the DLR four finger Hand-II and ESA’s Compact Tool Exchange Device. Unlike conventional simple arms, the manipulator is designed basically similar to the DLR Light Weight Robot (LWR) with high dynamics, load capacity, modularity and less mass. The rover estimated to weigh ~100 kg is integrated with a conceptual “Sieve Mill” device to screen regolith of suitable size and with a scoop for collecting. Finally, reduction of entire rover power consumption has been carefully investigated that is going to be addressed more effectively during future works.
- Abstract document
- Manuscript document
IAC-08.A3.2.B10.pdf (🔒 authorized access only).
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