中文摘要：

系统地进行了5自由度轮式悬架移动机械手的动力学研究，在此基础上，考虑到悬架的引入会对移动机械手末端执行器的运动学和动力学特性造成较大影响，综合运用拉格朗日方程以及牛顿-欧拉方程，建立了5自由度轮式悬架移动机械手系统的完整正、逆动力学模型。基于该动力学模型，以能量消耗最少为目标函数，对这类机械手的杆长进行了优化设计，并对优化结果进行了仿真分析。

英文摘要：

A dynamics study on a 5 DOF wheeled suspension mobile manipulator was conducted systematically, and the problem that the use of wheeled suspension has a great influence on the dynamic properties of the manipulator＇ s end-executor was paid attention. Based on this, a complete dynamics model of the manipulator system was established by synthetic use of the Lagrange theory and the Newton-Euler equation. According to the dynamic model, an optimization design of the manipulator＇ s lever length was made with the aim to realize the the minimum energy consumption, and the optimization results were analyzed by simulation.