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Space Exploration Rover System - SERS-6

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The SERS-6 is an advanced indoor space exploration rover designed to simulate lunar and planetary exploration missions. Featuring a sophisticated swerve drive system, 6-DOF robotic arm, and comprehensive sensor suite, it serves as a development platform for space robotics research and education.

Technical Specifications

Physical Specifications

  • Dimensions:

    • Length: 70 cm

    • Width: 60 cm

    • Height: 78  cm

  • Weight: 25 kg (base configuration)

  • Construction Material:

    • Primary: 7075-T6 aerospace-grade aluminum

Mobility System

  • Drive Configuration: Quad swerve drive system

  • Wheel Specifications:

    • Diameter: 19 cm

    • Type: All-terrain rubber compound

    • Swerve Module Features:

      • 360° continuous rotation

      • Independent wheel speed control

      • Integrated encoders for precise positioning

  • Performance:

    • Maximum Speed: 1.5 m/s

    • Zero turning radius capability

    • Slope Capability: Up to 35 degrees

    • Ground Clearance: 23 cm

Robotic Arm

  • Configuration: 6-DOF arm with modular end-effector

  • Specifications:

    • Reach: 50 cm

    • Payload Capacity: 2 kg at full extension

    • Positioning Accuracy: ±4 mm

  • Joint Properties:

    • Brushless DC motors

    • Integrated force/torque sensing

    • Position,  velocity and torque feedback,

  • End-Effector Options:

    • Standard gripper (0-35 mm opening)

    • Scientific instrument mount

    • Quick-change tool interface

Sensor Suite

Sensor Suite

  • Visual Systems:

    • Primary Navigation Camera: OpenCV OAK-D​

    • Range: 0.2 - 9 m

    • RGB: 12MP​

  • Arm-Mounted Camera:

    • Diagonal field of view (dFoV): 78°

    • Max Resolution: 1080p/30 fps - 720p/ 30fps

  • LIDAR System:

    • 360°x90° scanning LIDAR

    • Range: 0.05-30 meters

    • Resolution: ±2.0 cm

    • ​Update Rate: 250 Hz

  • Additional Sensors:

    • 9DOF IMU

    • Wheel encoders

    • Motor Current sensors

    • Obstacle detection sensors

Computing and Control

  • Main Computer:

    • NVIDIA Jetson Orin Nano

    • 16GB RAM

    • 512GB SSD

  • Operating System:

    • ROS 2 middleware

Navigation Capabilities

  • Autonomous Navigation:

    • Path planning with obstacle avoidance

    • Position estimation using sensor fusion

  • Manual Control:

    • Teleoperation interface

    • Variable control modes

    • Force feedback option

Power System

  • Primary Power:

    • Type: Li-ion battery pack

    • Voltage: 22.2V

    • Capacity: 20Ah

    • Runtime: 4  hours (typical use)

  • Power Management:

    • Smart power distribution

    • Low-power modes

    • Battery health monitoring

  • Charging:

    • Fast charge capability (3 hours)

    • Solar panel interface (optional)

    • Hot-swap battery support

Communication

  • Wireless:

    • Wi-Fi 6E

    • Optional radio module for long-range

  • Protocols:

    • Delayed telemetry handling

    • Loss-tolerant command system

Environmental Specifications

  • Operating Environment:

    • Temperature: 0°C to 45°C

  • Storage Environment:

    • Temperature: -20°C to 60°C

Software Features

  • Development Environment:

    • ROS 2 integration

    • Python and C++ APIs

    • MATLAB / Simulink

    • Simulation environment

    • UNITY

  • AI Capabilities:

    • Terrain classification

    • Object recognition

    • Autonomous mission planning

    • Others

  • User Interface:

    • Web-based control interface

    • Mission planning software

    • Data visualization tools

    • Virtual reality operator interface

Research and Educational Features

  • Data Collection:

    • Sensor data logging

    • Mission telemetry recording

    • Performance metrics tracking

  • Simulation Integration:

    • Hardware-in-the-loop capability

    • Mission scenario playback

  • Educational Tools:

    • Curriculum materials

    • Laboratory exercises

    • Programming tutorials

Safety Features

  • Emergency Systems:

    • Hardware emergency stop

    • Software watchdogs

    • Power monitoring

    • Collision prevention

  • Fault Detection:

    • Joint position monitoring

    • Current limiting

    • Communication loss handling

Optional Accessories

  • Solar panel kit

  • Additional battery packs

  • Specialized end-effectors

  • Transport case

  • Development toolkit

  • Training package

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