This Thesis work discusses the functional design, the kinematic and dynamic performance of a novel over-actuated mobile platform for assistive robotics tasks. In the last decades, an unprecedented decrease in fertility and mortality rates in industrialized countries yielded the general aging of the population. Such a phenomenon affected the everyday life of individuals as well as organizations, either government or private, to the point that they are nowadays seeking the solution to the increasing demand for health care, housing, care-giving, and social security. In this scenario, this robotic platform aims to fulfill a design task, specifically oriented towards the field of assistance machines.