Okay guys, I did it.
I made a simple USB -> Zaurus DC plug cable and it does a very nice job charging the Zaurus.
SImply take any USB cable with an USB A plug, but the other side off. YOu will find four wires, two of them probably being red and black. Cut off the other wires and the shielding.
Connect the USB plug to a computer and measure if the red and black leads really have 5V and if the black on e is really minus and the red one really plus.
(make sure not to shorten them, I don't know the the USB port of the computer will stand a short-circuit).
Take a DC plug fitting the Zaurus' DC connector and solder it to the red and black wires so that minus is at the outside and plus at the inside. Insulate everything well!
Again connect the USB plug to a computer and measure once more if really there are exactly 5V (4,9 or 5,1 are also okay) and if the OUTSIDE of the plug has minus and the inside of the plug has plus 5 V!
And voila, there is a quite cheap charging cable, which is easy to carry around. You only need a computer with an USB port to charge your Zaurus.
My recommendation: On each computer you don't know yet, first perform a measurement if there are really 5V on the USB port.
Especially be careful with powered USB hubs!!
Maybe I will enhance the cable with a voltage stabilizer later to avoid overvoltage even on sloppy hubs.
daniel