Taking the grasshopper with excellent jumping performance as the bionic prototype, an analysis has been made of the physiological structure of the grasshopper’s legs, thus establishing the structure model of the grasshopper’s hind legs. Based on the analysis of the characteristics of the grasshopper’s physical structure, the crank slider mechanism is used to imitate the grasshopper leg tendons, with the spring applied to the imitation of the meniscus structure of the leg joints as an energy storage mechanism, thus designing a bionic model of a leg with high burst and excellent jumping performance. A further analysis has been made of the model in terms of dynamics and kinematics, with the method of Matlab numerical calculation used to prove the rationality of the designed model. Finally, the model is imported into ADAMS for virtual prototype experiment analysis. The results show that the model is characterized with a distinctive advantage in high burst and jumping performance.