Khalil Alipour - Department of Mechanical Engineering K. N. Toosi Univ. of Technology, Tehran, Iran
Ali Moosavian - Department of Mechanical Engineering K. N. Toosi Univ. of Technology, Tehran, Iran
Yousef Bahramzadeh - Department of Mechanical Engineering K. N. Toosi Univ. of Technology, Tehran, Iran

Mobile Manipulators which consist of one or more manipulators mounted on a mobile base absorbed much of interest because they have locomotion. In such systems, it is expected to pass through various environmental conditions such as uneven topographies or roads. A suspended wheeled mobile manipulator is a proper structure for tolerating the irregularity of the open terrain. In this study first, a general procedure for dynamics modelling of such systems is presented based on iterative Newton-Euler's formulation. Then, to verify the obtained dynamics model, another model for considered system has been constructed by ADAMS simulation software. Comparison between the results obtained from our analytical model and ADAMS software for highly coupled and nonlinear system confirms the thoroughness of the analytical model. Although the benchmark system of this paper is planar, the proposed algorithm can be easily extended for spatial 3D movement of these complex systems. In addition, the presented approach can provide the interaction wrench(s) between mobile vehicle and arm(s).

Suspension, Wheeled Mobile Manipulators, Dynamics Modeling, Rough Terrain