【摘要】 用机器人动力学方法建立了液压履带起重机变幅运动时的多刚体动力学模型，用牛顿－欧拉方法得到载荷摆振的动力学方程。给出了各杆件的受力的递推公式，为起重机设计和载荷摆振控制提供了理论依据。用数值方法求解了系统动力学方程，对变幅运动过程进行了数值仿真。更多还原

【Abstract】 A multiple rigid bodies dynamic model of hydraulic crawler crane in elevating motion is set up. According to Newton-Euler equations, a set of recursive equations is derived through dynamics of robot method. The equations are solved with numerical method The dynamic characteristic of hydraulic crawler crane in elevating operation of the crane is obtained through computer simulation.更多还原