The robot operated fastest and most efficiently when it ran near resonance - near the robot's natural frequency - similar to the way a grandfather clock's pendulum swings at its natural frequency.
操作机器人达到自身自然振动频率时可以使其爬的最快达到最高效率，就像爷爷家老摆钟摇摆于自身自然频率一样。
A variable length simple pendulum model is introduced, elementary analysis and perturbation analytic solution of nonlinear differential equation for parametric resonance are presented.
采用可变长度单摆的力学模型对秋千振荡给出初等分析，采用微扰近似法导出了秋千的非线性参数共振解析解， 并进行了讨论。
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