Two-degree-of-freedom tendon-driven bionic spine for quadruped robot

The invention belongs to the technical field of quadruped robots, and particularly relates to a two-degree-of-freedom tendon-driven bionic spine for a quadruped robot, which comprises a continuum bionic mechanism, a linear driving device and a fixing device. The three driving devices are coupled to drive the continuum bionic spine to move, bionic movement bending and lateral bending can be achieved, the bionic robot can better simulate biological movement, the movement accuracy can be ensured, the variable rigidity function of a bionic structure can be achieved, and compared with a four-driving device, the driving efficiency of the bionic robot is higher. Meanwhile, the springs are installed between the separation plates of the bionic spine, so that the rigidity of the continuum body can be improved, motion energy is stored, and the reliability of bionic spine connection is guaranteed. The length change relation of all the driving steel wire ropes is obtained through DH coordinate method modeling, and rapid r