Introduction

Welcome to LunarBot!!!

The LunarBot is a space rover built by the DSSL Robotic Research team and programmed using ROS 2 humble. This manual provides thorough information about the LunarBot such as its mechanical and hardware interfaces, and operational guidelines. Kindly read the manual to ensure a safe and efficient operation of the robot.

Overview

The LunarBot is an intelligent mobile space rover designed for lunar surface exploration mission. It features autonomous navigation, environmental perception, data acquisition and transmission, thereby, making it adaptable to the complex rocky lunar surface enviornment. The LunarBot features a four-wheel independently driven steering platform, each equipoped with a drive motor with an encoder and a steering motor. The perception system integrates a Livox-Mid360 360° LiDAR, an Intel Realsense D435i camera, and an IMU. A Realman RM-75 seven-degree-of-freedom robotic arm with a two-finger gripper as an end effector is mounted on the rear roof of the vehicle.

介绍

欢迎使用LunarBot！

LunarBot是由DSSL机器人研究团队开发的月球探测车，使用ROS 2 Humble编程。本手册提供了关于LunarBot的详细信息，包括其机械和硬件接口以及操作指南。请务必阅读本手册，以确保机器人能够安全高效地运行。

概述

LunarBot是一款为月球表面探测任务设计的智能移动探测车。它具备自主导航、环境感知、数据采集与传输功能，能够适应复杂的月球岩石表面环境。LunarBot配备了四轮独立驱动转向平台，每个车轮均配备有编码器的驱动电机和转向电机。其感知系统整合了Livox-Mid360 360°激光雷达、英特尔Realsense D435i相机以及惯性测量单元（IMU）。此外，车辆后顶还安装了一台Realman RM-75七自由度机械臂，末端执行器为双指抓取器。