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。
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.
提出了仿袋鼠跳跃机器人机构模型及运动学研究的方法。
A mechanism model and a kinematics research method for bionic kangaroo hopping robot are presented.
首先，根据仿生学研究的基本方法，在前人对蝗虫生物原型研究的基础上，提出了符合蝗虫跳跃运动特征的仿蝗虫机器人的机构模型。
Firstly, according to the basic method of bionic research and scientists 'analysis of locust, the mechanism model of locust-like hopping robot is presented.
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