Models of the position and tool forces of backhoe hydraulic excavator were built based on the full analysis of kinematics, kinetic performance of working device and mathematic model of tool forces.

在对反铲液压挖掘机工作装置的运动学、动力学性能以及挖掘力数学模型全面分析的基础上，建立了反铲液压挖掘机整机的位置模型和挖掘力发挥模型。

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Models of the position and tool forces of backhoe hydraulic excavator were built based on the full analysis of kinematics, kinetic performance of working device and mathematic model of tool forces.

在对反铲液压挖掘机工作装置的运动学、动力学性能以及挖掘力数学模型全面分析的基础上，建立了反铲液压挖掘机整机的位置模型和挖掘力发挥模型。

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