Distobee: Design and System Review of a Mobile Platform for Lunar Regolith Excavation

This work presents the design, development, and partial validation of a mobile robotic platform designed for the excavation and transportation of lunar regolith. The system was developed by members of the student research group AGH Space Systems as part of their participation in the AGH Lunar Resources Initiative. The team took part in Space Resources Challenge, an initiative launched by the European Space Agency (ESA) and the European Space Resources Innovation Centre (ESRIC) in 2021. The competition aims to foster challenge-driven innovation by involving academic and industrial teams in solving practical problems relevant to the future of lunar exploration. The proposed platform was designed with a strong emphasis on simplicity, modularity, and mechanical robustness to ensure reliable operation in simulated lunar conditions. These include high levels of dust, a vacuum environment, and reduced gravity. The paper outlines the system architecture, highlighting both mechanical and electronic subsystems, and details the design decisions and trade-offs made throughout the development process. A major engineering focus was the development of a custom wheel and drivetrain system tailored to maintain traction and maneuverability on loose regolith while minimizing dust dispersion during movement. Various geometries and tread patterns were explored, taking into account constraints on mass, mechanical complexity, and ease of manufacturing. The suspension system was also optimized to ensure stability during regolith acquisition, enabling smooth operation on uneven terrain. One of the significant challenges addressed was the reliable detection of the fill level inside the onboard excavation-storage container. Given the harsh environmental conditions expected during operation, a comparative evaluation of multiple sensor technologies, including capacitive sensors and radar-based solutions, was conducted to determine the most suitable approach. Energy management represented another critical aspect of the project, as the competition imposed strict limits on available electrical power. A hybrid energy management system was implemented, combining commercial off-the-shelf components with custom-designed modules to optimize energy consumption while maintaining system performance. The prototype developed within this project serves as a functional research platform for future iterations and scientific testing. The system will undergo final testing and validation in October 2025 at the LUNA analog lunar simulation facility, where its performance will be assessed under realistic Moon-like conditions.