Design of Quadruped Bionic Robot with Variable Stiffness Spine

Quadruped mammals are the best model for quadruped robots. Their flexible, supple and stable gait not only benefits from the coordinated movement of limbs, but also plays a crucial role in the spinal column. Based on the above problems and inspired by the scenes of quadruped mammals making use of their flexible spinal curvature to achieve flexible turning in the process of turning, this paper proposes a quadruped bionic robot with a variable stiffness spine. The whole structure of the robot bionic spine is designed, and the spring spine is used to connect the structure to realize the advantages of the flexible spine in the robot swing and steering. In this paper, ANSYS software was used to analyze the spine of the robot, and the functional relationship between the carbon fiber layup Angle and stress and deformation was established. A high-precision response surface was constructed by combining with the adaptive Kriging model, and a satisfactory layup Angle was obtained for the optimal analysis of the spinal structure, which verified the feasibility of dynamic optimization of the spinal bone.