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LunarBot Hardware Introduction

LunarBot is the fundamental unit of a lunar service robot cluster.

The LunarBot is built on a 4-wheeled independent steering and driving platform, each wheel features a driving motor and steering motor with encoders. It is equipped with a multi-modal perception system that integrates a Livox-Mid360 360° LiDAR, a Intel Realsense D435i camera and IMU integrated in it. Realman RM-75, a 7-degrees-of-freedom (7-DOF) robotic manipulator, with a 2-finger gripper as end effector, is also integrated.

LunarBot

Geometric Information​

The rover is approximetly 1300mm length, 1000mm width and 800mm height without solar pannels and manipulator. All wheels' Φ=260mm\Phi= 260mm (without EVA foam) and width=168mmwidth = 168mm.

Components​

Current LunarBot is a 4 wheel model.

Wheels​

Each wheels is equipped with:

  • A 100 Watts steering motor with encoder
  • A 200 Watts driving motor with encoder
  • 1 origin indicator sensor (npn switch)
  • 1 limitaion indicator sensor (npn switch)
  • 2 servos, for each motor
  • Steering and driving motor gear box

Except servos are installed in chassis body, all other components are exposed at each wheel.

Chamber​

Inside the chamber of the chassis, we got:

  • A high-voltage graphene power cell
  • A low-voltage graphene power cell
  • 8 servos
  • Circuit breakers
  • Computation Module

Sensors​

  • Livox-Mid360 LiDAR
  • Intel Realsense D435i Camera
  • IMU

Manipulators​

  • Realman RM-75 robot manipupator, 7-dof
  • Inspire Robots EG2-4C gripper