Generative Design of XingT, A Human-sized Heavy-duty Bipedal Robot

摘要

In order to serve humanity better in the disabled assisting, transportation, rescue, and other aspects, a human-sized bionic bipedal structure with low inertia and high-load capacity is presented. The designed robot named XingT adopts a non-coaxial five-link leg structure, after kinematic modeling analysis and structural comparison, being able to bear a load beyond its weight. Besides, bionic tibia modules and passive compliant units are adopted, effectively absorbing motion impact in high-load and strong-impact scenarios. In addition, with structural design and simulation analysis, the proposed five-link structure can realize multi-mode switching, which can adapt to high load application in the convex five-link form and switch to concave five-link mode for light and flexible walking effect. Results of prototype and simulation experiments showed that it can reduce impacts by 67% and increase the load performance by 22.3%, which verifies its structural performance for future practical application.