CREX
Crater Explorer
Technical Details
| Size: | 820 x 1000 x 220 mm (normal posture) |
| Weight: | 27kg |
| Power supply: | 50V/2.400mAh |
| Actuation/ Engine: | 24 joints for 6 legs + 1 body joint (RoboDrive + HarmonicDrive) 2 Servo motors (Dynamixel) for head control |
| Sensors: |
Joints: Current measurement, voltage measurement, rotational speed, position (absolute and incremental), temperature; Each foot: 4x pressure for deformation measurement of flexible foot material, 3-axis acceleration measurement, optical encoder for immersion of spring element in lower leg, ADC for 4x strain gauges usable for i.e. bending measurement of optional claws
|
| features: | Electro-mechanical interface (EMI) for tight connection to Sherpa in the project RIMRES. The interface is controlling energy and data exchange between coupled systems |
Organisational Details |
|
| Department: |
Department I - Design & Evaluation
Department II - Mobility & Manipulation |
| Application Field: | Space Robotics |
System description
CREX (CRater EXplorer) is a six-legged walking robot that is based on the developments in the project SpaceClimber.
CREX acts as a scouting system in the project RIMRES. The robot is intended to explore the inner of deep lunar polar craters in search for water ice or other volatile substances.
Via the electro-mechanical interface on CREX‘ back the robot can be connected to the Sherpa rover for travelling longer distances. Furthermore an expansion of the system‘s capabilities is possible with the EMI: Additional battery modules or scientific instruments can be docked to the interface.
CREX: Postures
CREX demonstrating its postural abilities. These are used for docking to Sherpa or in steep crater slopes
RIMRES: Sherpa and Crex
Sherpa is using its manipulator to deploy CREX. A possible use-case is the deployment off a landing unit at the beginning of an exploration mission
RIMRES: systems in a lunar exploration mission
The video shows a possible lunar exploration mission for the RIMRES-system.
