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This document presents the study conducted during the European Moon Rover System Pre-Phase A project, in which we have developed a lunar rover system, with a modular approach, capable of carrying out different missions with different objectives. This includes excavating and transporting over 200kg of regolith, building an astrophysical observatory on the far side of the Moon, placing scientific instrumentation at the lunar south pole, or studying the volcanic history of our satellite. To achieve this, a modular approach has been adopted for the design of the platform in terms of locomotion and mobility, which includes onboard autonomy, of course. A modular platform allows for accommodating different payloads and allocating them in the most advantageous positions for the mission they are going to undertake (for example, having direct access to the lunar surface for the payloads that require it), while also allowing for the relocation of payloads and reconfiguring the rover design itself to perform completely different tasks., Comment: Conference Paper for ASTRA 2023

The European Moon Rover System (EMRS) Pre-Phase A activity is part of the European Exploration Envelope Programme (E3P) that seeks to develop a versatile surface mobility solution for future lunar missions. These missions include: the Polar Explorer (PE), In-Situ Resource Utilization (ISRU), and Astrophysics Lunar Observatory (ALO) and Lunar Geological Exploration Mission (LGEM). Therefore, designing a multipurpose rover that can serve these missions is crucial. The rover needs to be compatible with three different mission scenarios, each with an independent payload, making flexibility the key driver. This study focuses on modularity in the rover's locomotion solution and autonomous on-board system. Moreover, the proposed EMRS solution has been tested at an analogue facility to prove the modular mobility concept. The tests involved the rover's mobility in a lunar soil simulant testbed and different locomotion modes in a rocky and uneven terrain, as well as robustness against obstacles and excavation of lunar regolith. As a result, the EMRS project has developed a multipurpose modular rover concept, with power, thermal control, insulation, and dust protection systems designed for further phases. This paper highlights the potential of the EMRS system for lunar exploration and the importance of modularity in rover design., Comment: 9 pages, Conference paper for the IAC 2023