LRU – Lightweight Rover Unit

摘要

This paper presents the novel Lightweight Rover Unit
\n(LRU) developed at DLR-RMC Robotic and
\nMechatronic Center. The LRU rover is a terrestrial
\nprototype based on the experiences gained with the
\nmobile payload element (MPE) rover which has been
\noriginally developed for the ESA lunar lander mission.
\nThe small MPE lunar rover was foreseen for collecting
\nand fetching samples on the lunar surface. This paper
\ndescribes the development of the small and lightweight
\nLRU rover prototype with respect to kinematic aspects,
\nthe electronic perspective and the control point of view.
\nThe LRU is equipped with a highly sophisticated
\nautonomous navigation system, which is also briefly
\ndescribed in this paper. The LRU paves the way towards
\na small space qualified exploration rover. The
\ntechnology readiness level (TRL) of its incorporated
\nsubstantial robotic modules has been increased and the
\ncomponents and technologies developed for the LRU
\ncan be reused for future developments.