Abstract
Typical mobile robot structures (e.g. wheelchair or car-like, …) do not have the required mobility for common applications such as displacement in a corridor, hospital, office… New structures based on the "universal wheel" (i.e. a wheel equipped with free rotating rollers) have been developed to increase mobility. However, these structures have important drawbacks such as vertical vibrations and limited load capacity. In order to predict both their kinematic and dynamic behaviours, the resort to a multibody approach is envisaged here and generalized to deal with the universal wheel/ground contact phenomenon.
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