Configuration optimization of a wheeled suspension mobile parallel manipulator based on multi-body dynamics

It is since the shortcomings of a mobile manipulator in fields of height speed, large loading and precise tracking operation that a novel configuration manipulator of a wheeled suspension mobile parallel manipulator is presented. Based on multi-body dynamics, its inverse dynamic model is modeled in Cartesian Coordinate System under considering generality and integration of modeling approachs. Based on the inverse dynamic model, the energy consumption of driving motors is treated as an optimization goal to optimize some configuration parameters of the parallel manipulator. At last, the optimization algorithm is presented and verified by numeric simulations.