Bionic design of buffer joint with functional stiffness

Aiming at the impact vibration of the robot caused by the unstructured ground collision, a cam slot stiffness functional bionic buffer joint is proposed. The stiffness function of the buffer joint is analyzed by the analytical method, and the accurate function expression equation of buffer joint stiffness is obtained. The design of the cam slot buffer joint is carried out based on the rigidity functional feature. The rigidity function feature of the buffer joint is analyzed by Adams simulation. The results show that the designed bionic buffer joints have the characteristic of stiffness function.