Meanwhile, the natural frequency was calculated using this method in an example, and the natural frequency affected by the change of equivalent spring stiffness was also analyzed.

结合工程实例，采用该模型计算了桩基的自振频率，分析了弹簧等效刚度的变化对模型自振频率的影响。

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Dynamic differential equation is established with Kane method. The formulas of input torque at each joint and force acting on the ground and the approach to equivalent spring stiffness were presents.

并用凯恩法建立了系统动力学微分方程，推导了跳跃机构各关节输入扭矩和对地面作用力的计算公式，同时提出了确定等效弹簧参数的方法。

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It should be noted that this represents the stiffness of the equivalent torsional spring and not that of the original flexural beam.

需要指出的是这里的刚性所代表的是等量的减震弹簧的而不是其他的弯曲部件。

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