<abstract xmlns="http://www.w3.org/1999/xhtml"><p>The aim of this article is to present the concept of wheel-legged mobile manipulator, which is a combination of mobile platform with specially selected suspension system and a manipulator. First, a literature review was performed and own solution proposed. The kinematic structure of manipulator, selected simulation results, physical model and the concept of the control system has been presented. Geometry synthesis was used to design basic dimension. Structural synthesis was performed according to the intermediate chain method. Simulations were performed using the multibody dynamics simulation software. New approach in the field of the mobile manipulators was presented as a result.</p></abstract>

The aim of this article is to present the concept of wheel-legged mobile manipulator, which is a combination of mobile platform with specially selected suspension system and a manipulator. First, a literature review was performed and own solution proposed. The kinematic structure of manipulator, selected simulation results, physical model and the concept of the control system has been presented. Geometry synthesis was used to design basic dimension. Structural synthesis was performed according to the intermediate chain method. Simulations were performed using the multibody dynamics simulation software. New approach in the field of the mobile manipulators was presented as a result.

Type Synthesis, Modelling and Analysis of the Manipulator for Wheel-Legged Robot

Faculty of Mechanical Engineering, Department of Biomedical Engineering, Mechatronics and Theory of Mechanisms, Wroclaw University of Technology, Wybrzeże Wyspiańskiego 27, 50-370 Wrocław, Poland

Acta Mechanica et Automatica

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

{"article-title":"Type Synthesis, Modelling and Analysis of the Manipulator for Wheel-Legged Robot"}

The aim of this article is to present the concept of wheel-legged mobile manipulator, which is a combination of mobile platform with specially selected...

Type Synthesis, Modelling and Analysis of the Manipulator for Wheel-Legged Robot

Published Online: Jun 08, 2016

Page range: 87 - 91

Received: Dec 11, 2014

Accepted: Mar 21, 2016

DOI: https://doi.org/10.1515/ama-2016-0014

Keywords
Mobile Manipulator, Multibody Dynamics Analysis, Wheel-Legged Platform

© 2016 Bialystok University of Technology

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

Type Synthesis, Modelling and Analysis of the Manipulator for Wheel-Legged Robot

Published Online: Jun 08, 2016

Page range: 87 - 91

Received: Dec 11, 2014

Accepted: Mar 21, 2016

DOI: https://doi.org/10.1515/ama-2016-0014

KeywordsMobile Manipulator, Multibody Dynamics Analysis, Wheel-Legged Platform

© 2016 Bialystok University of Technology

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

Keywords
Mobile Manipulator, Multibody Dynamics Analysis, Wheel-Legged Platform