In order to better simulate practical conditions, a rigidflexible coupling model of a designed duckinspired robot was established using Hypermesh and Adams which are finite element software and dynamics software respectively. The dynamic stress and deformation of the shank were calculated. And two factors impact on the kinematics parameters of the webbed foot were analyzed , namely the deformation of shank and the friction coefficient of the leg joints. The results showed that during the operation of the robot, the shank met the requirements for strength and stiffness. The kinematics parameter error of webbed feet caused by the deformation of the shank will affect the accuracy during motion. Lubricating at joints can decrease the shock of robot. The simulation results can provide reference for the subsequent optimization of robot structures.