Abstract: Studied a dynamics simulation analysis method for a rigid-flexible coupling system of quadruped robot.Established the flexible body model,quadruped robot rigid-flexible coupling dynamic model is established by ANSYS and ADAMS and analyzed the effect of elastic deformation simulation and rigid body simulation on the robot walking gait.In addition,analyze the robot walking in the process of stress and strain.Results show that the rigid-flexible coupling model and the actual situation more similar,more realistic reflection of the working performance of the robot,which provides an important basis for further gait planning,structure design and optimize of the quadruped robot.

Key words: quadruped robot, rigid flexible coupling, ANSYS-ADAMS, elastic deformation