Bio-inspired　jumping　robot　can　imitate　the　jumping　process　of　creatures,　and　can　move　in　environment　with　large　obstacles.　This　type　of　robot　can　be　applied　to　complex　situations　such　as　earthquakes　and　landslides,　and　has　a　broad　application　prospect.　Aiming　at　the　problems　of　the　existing　micro　bionic　jumping　robots,　such　as　the　simple　dynamic　model　and　the　unclear　rigid-flexible　coupling　characteristics,　the　dynamic　modeling　and　performance　analysis　of　rigid-flexible　coupling　jumping　leg　is　conducted　in　this　paper.　Based　on　the　analysis　of　the　jumping　mechanism　of　stick　insect,　a　design　method　of　four-bar　jumping　leg　mechanism　under　multiple　constraint　conditions　is　put　forward.　Then　the　dynamic　model　of　the　rigid-flexible　coupling　four-bar　jumping　leg　with　flexible　equivalent　tibia　and　elastic　joint　is　established　combining　with　Lagrange　and　Newton-Euler　dynamic　modeling　methods,　which　can　describe　the　dynamic　characteristics　of　the　robot　quantitatively　during　jumping.　The　relationship　between　the　stiffness　of　flexible　tibia　and　jumping　performance　is　analyzed,　which　includes　energy　storage　capacity,　take-off　velocity/acceleration　and　jumping　stability.　The　analysis　results　show　that　proper　reduction　of　stiffness　of　flexible　tibia　can　improve　the　dynamic　performance　of　small　scale　bio-inspired　jumping　robot.　This　study　offers　primary　theories　for　design　and　analysis　of　rigid-flexible　coupling　four-bar　jumping　leg　with　flexible　equivalent　tibia　and　elastic　joint,　and　it　establishes　a　theoretical　basis　for　studies　and　engineering　applications.