Abstract
A mobile manipulator consisting of an omni-directional mobile platform and a six d.o.f. manipulator has been developed. Since the platform has four suspension mechanisms for its wheels, the tip of the manipulator has positioning errors when the manipulator changes its posture or external forces act on it due to the suspension mechanisms of the mobile manipulator. Therefore, the displacement of the platform and the stiffness of the suspensions is analyzed and how to determine some kinematic parameters are discussed.
