Mechanical and Electrical Design of a Four-Wheel-Drive, Four-Wheel-Steer Mobile Manipulator with PA-10 Arm

This paper summarizes mechanical and electrical design of a unique mobile manipulator. Mechanical design is based on the idea of increasing capabilities of Mitsubishi PA-10 robot arm effectively and safely. A large number of sensors in different types and the mechanical design of the steering of each wheel require a reliable design and implementation of power and control systems capable of handling any induced dynamical loads. Mobile platform has been realized in the light of such design criteria and the details of this process is explained in this paper.