Design and implementation of the lightweight advanced robotic arm demonstrator (larad)

Beyond the current ExoMars programme, the European Space Agency (ESA) is investigating a range of technology developments and exploration mission opportunities leading to a future Mars Sample Return Mission (MSR), a critical next step in the exploration of Mars. To fulfil their scientific objectives, all of these missions require an arm with a long reach capable of performing a variety of tasks in stringent environmental conditions, such as low gravity sampling and precise sample handling and insertion. As part of an activity co-funded by the UK Space Agency, a consortium of UK companies has developed LARAD, a Lightweight Advanced Robotic Arm Demonstrator to address some of the underlying challenges related to both the design as well as operation of long arms. This paper describes the current state-of-the-art in planetary robotics and provides an overview of the top-level architecture, mechanical and mechanism design, electrical and software architectures for the LARAD demonstrator.