中文摘要：

考虑到移动串联机械手不能很好地满足高速、大负载、准确作业的性能要求，提出了一种新颖的轮式悬架移动并联机械手构型。为实现建模的通用性与完备性，基于多体动力学，在笛卡尔坐标下构建了系统逆动力学模型，并据此分别对移动串联机械手和移动并联机械手进行了逆动力学数值仿真，以验证建模方法的正确性和新构型移动机械手的动力学性能。仿真结果的比较、分析表明，与串联构型相比，移动并联机械手的系统刚度有所提高，且不必增大能耗为代价；电机驱动力矩有所降低，有利于电机的选型和控制策略的制定。

英文摘要：

A novel configuration for a wheeled suspension mobile parallel manipulator was presented based on the consid eration of mobile serial manipuhors＇ low performance in the circumstances of high speed, heavy load, etc.. According to multibody dynamics, an inverse dynamic model was constructed in the Cartesian coordinate system to achieve modelling＇s generality and integration. Based on the model, the inverse dynamic simulation for a mobile serial manip ulator and the presented mobile parallel manipulator was carried out to verify the correction of the modelling and the dynamic performance of the new presented manipalator. The simulation results show that the new manipulator has the better system rigid and the lower motordriven torque compared with mobile serial manipulators.