Abstract
This paper presents a novel variable stiffness mechanism, namely the SBTDTS (Spinal Biomimetic Two-Dimensional Tensegrity Structure), which is constructed by integrating bioinspiration derived from biological spinal structures with the T-Bar mechanical design within tensegrity structures. A method for determining the torsional stiffness of the SBTDTS around a virtual rotational center is established based on parallel mechanism theory. The relationship between various structural parameters is analyzed through multiple sets of typical parameter combinations. Ultimately, the PSO (Particle Swarm Optimization) algorithm is employed to identify the optimal combination of structural parameters for maximizing the stiffness ratio, Kθ_time, of SBTDTS under different constraint conditions. This optimal configuration is then compared with the RAPRPM (a type of rotational parallel mechanism) under different values of μ, with an analysis of the distinct advantages of both variable stiffness structures.