Therefore, the study of excavator working device has a very essential significance.

因此，对于挖掘机的工作装置的研究有着十分必要的意义。

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ZHANG Weiguo. Knematic Simulation and Analysis Research of Hydraulic Excavator Working Device [D]. Taiyuan: Taiyuan university of technology, 2010: 14-25.

[8] 张卫国。 液压挖掘机工作装置动力学仿真分析及研究[D]。 太原： 太原理工大学， 2010： 14-25。

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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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