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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This paper, using the method of differential equation, proves some characters properties of basic elementary function, and then concludes an equivalent representation about basic elementary function.

运用微积分的方法，对基本初等函数的若干特征性质进行了证明。从而给出了基本初等函数的等价表征。

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Tracing algorithm for Thevenin equivalent parameters based on complete differential equation was presented in consideration of parameter variation during calculation.

考虑戴维南等值参数在跟踪计算过程中不断变化的实际情况，提出基于全微分的戴维南等值参数跟踪计算方法。

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