<p>The development of wheel-legged robots with manipulators necessitates the examination of their stability due to the possibility of tipping over caused by the mobile base, changes in the base’s height, and the effects of the manipulator’s movement on the base. In this paper, the stability of a wheel-legged manipulator is investigated using the Moment-Height stability method, which requires precise dynamic modeling of the system. The importance of accuracy in modeling is to utilize dynamic torques in the stability criterion, which is obtained using the Gibbs-Appel method. In this regard, the dynamic interactions between the manipulator and the base, as well as the changes in the mass moment of inertia of the robot considering the changes in the angles of the legs, are taken into account. Therefore, after modeling the kinematics and dynamics of the wheel-legged manipulator, the simulation results from MATLAB for a wheel-legged manipulator with two rotational joints are compared and validated against the results obtained from the robot simulation in the ADAMS. Then, by Moment-Height stability criterion, the robot’s stability is examined considering the changes in the robot’s mass moment of inertia, and it is compared with the existing results obtained from experiments conducted on the constructed robot. The analysis highlights that proper adjustment of leg angles significantly enhances the robot’s stability. Proposed analytical modeling framework produces results that are in close agreement with numerical simulation outcomes, capturing the general trends of system stability and the associated stability boundaries. These results highlight the effectiveness of the proposed modeling approach in accurately predicting stability and its implications for wheel-legged robot design.</p>