Maddahi - Islamic Azad University, Saveh Branch
Bani Rostom - Islamic Azad University, Researches and Sciences Branch
Maddahi - Amir Kabir University of Technology, Mechanical Engineering Department

This paper presents the design process of an omni-directional mobile manipulator, designed for hospital as Nursing Robot. In design process, first the overall design of the system is discussed and then the control process of robot is presented. The kinematics and dynamic equations are derived in symbolic forms and the actuators torques are derived as a function of robot parameters. To investigate the proposed kinematics and dynamic formulations for mobile manipulator, the consequences of simulation in Matlab and Visual Nastran softwares are carried out. Finally the maximum allowable load carrying capacity of the mobile manipulator in given trajectory is obtained from simulation study, using Visual Nastran software.

Omni-Directional Wheel - Mobile Manipulator – Modeling – Simulation - Maximum Allowable Load