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Characterization of a Non-Bionic Heavy-Duty Bipedal Robot With Parallel Leg Mechanisms
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DOI：10.1109/access.2026.3719471.png)
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Abstract
En 中文
This paper presents the design and performance analysis of a heavy-duty bipedal robot equipped with a parallel leg mechanism. The leg mechanism achieves six degrees of freedom (DOF) through a combined parallel actuation system. The robot’s overall configuration features feet positioned directly beneath the upper platform, with legs arranged symmetrically around the circumference. The workspace is determined through a three-dimensional spatial search, and the mapping between spatial motion and joint motion is established via a kinematic model. Key performance metrics—including velocity characteristics, load-bearing capacity, and isotropy—are evaluated for the parallel legs within the workspace. A physical prototype has been constructed and subjected to preliminary experimental testing. Results demonstrate that the robot exhibits a robust structural design, high kinematic solution accuracy, and impressive payload capacity, making it suitable for use as a heavy-duty mobile platform. Furthermore, the proposed performance evaluation methodology is both universal and flexible, rendering it applicable to the performance characterization of other robotic systems. The core of this method lies in using the performance limits of the actuated joints as inputs, and employing the Jacobian matrix as a mathematical tool to accurately compute the performance distribution of a robot across its workspace.
Keywords:
Biped robot
kinematics
workspace
heavy-duty
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9.7W
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29.4W
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