The invention discloses a bionic kangaroo leg suspension with a bionic joint, which comprises a leg bone rod, a leg bone rod, a foot bone rod, a bionic joint, a connecting rod and a limiting mechanism. An upper end of that
thigh bone rod is articulate with the body through the biomimetic hip joint, A low end of a
thigh bone rod and an upper end of a lower
thigh bone rod are articulate with a biomimetic
knee joint, a lower end of that thigh bone rod and an upper end of a foot bone rod are articulated with a biomimetic
ankle joint respectively, the biomimetic hip joint and the biomimetic
ankle joint are connected through an MR
damper I, the lower end of the foot bone rod and the lower end of the MR
damper II are articulated with a wheel center, and the upper end of the connecting rod is articulated with a limiting mechanism; The biomimetic joint comprises a disk, an arc groove, a circular hole, sealing rings are arranged on both sides of the arc groove,
magnetorheological fluid is filledin the arc groove, an arc spring and an arc damping block are arranged in the arc groove. The invention imitates the leg structure of the kangaroo leg and the excellent characteristics of biologicaljoints through the unique movement constitution of the kangaroo, the reasonable leg structure proportion, the extremely characteristic movement form and the like, so that the vehicle has good passingperformance, stability and comfort.