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将铲运机装载作业工作部分处理成为具有一个移动副和两个旋转副的机械手系统，定义了系统坐标系及相关参数；应用矩阵理论，推导出了铲运机装载作业任意时刻铲斗位置的计算公式，即铲运机装载轨迹计算公式，以及系统所需的驱动力公式。本文的研究工作对铲运机总体参数确定、工作装置参数设计以及确定合理的装载操作方式等有重要的理论意义与实际意义
The working part of the scraper loading operation is processed into a manipulator system with a moving pair and two rotating pairs, and the system coordinate system and related parameters are defined. Using the matrix theory, the position of the bucket at any moment of the scraper loading is deduced Calculation formula, that is scraper loader trajectory calculation formula, and the system required driving force formula. The research work in this paper has important theoretical and practical significance for the overall parameters of scraper, the design of working equipment parameters and the determination of reasonable loading operation mode