The rigid-flexible coupling structure of creatures with jumping ability has the advantages of high stiffness and good flexibility, which are of great significance to its research. However, existing research on jumping robots has not demonstrated the effect of multiflexibility links on the jumping performance. In this paper, a Watt-type one degree-of-freedom six-bar mechanism is regarded as research object. For a jumping leg including multiple flexible links and a flexible joint with a floating frame, a rigid-flexible coupling dynamic model is established with a pseudo-rigid-body model being used. On this basis, the effect of structural and installation parameters on the jumping performance is analyzed. Results show that different flexible links have distinct effects on the jumping performance, and properly reducing the stiffness of flexible links can improve the jumping performance. The results of this study provide a design basis for jumping robots with a rigid-flexible coupling structure.

具有跳跃能力的生物刚柔耦合结构具有刚度高、柔韧性好的优点，对其研究具有重要意义。然而，现有的跳跃机器人研究并没有证明多柔韧性链接对跳跃性能的影响。本文以瓦特型一自由度六杆机构为研究对象。对于包含多个柔性连杆和带有浮动框架的柔性关节的跳腿，采用伪刚体模型建立刚柔耦合动力学模型。在此基础上，分析了结构和安装参数对跳跃性能的影响。结果表明，不同的柔性连杆对跳跃性能有不同的影响，适当降低柔性连杆的刚度可以提高跳跃性能。该研究结果为具有刚柔耦合结构的跳跃机器人提供了设计依据。