Stages of movement of the fourlink robot moving with the jump from the surface

The settlement scheme of the four-link robot moving with a jump from a surface is provided, the jump of the device is described in the form of sequence of stages, on each of which links of the robot make certain types of movement, the mathematical model in the form of the differential equations describing movement of the robot at all stages is developed, results of numerical modeling of a jump according to the specified sequence of stages are presented.