摘要：This article is targeted to bring basic information about the possibility of the kinematics arrangement of a mobile mechatronic system on a wheel carriage. Right choices undercarriage is one of general tasks at early design of mobile service robot. The spectrum of offered service mechatronic systems is large, starting from simple applications up the most complex ones. They represent a category of mechatronic systems involving a large ratio of conceptually and principally new solutions and designs.
