用齐次坐标变换的方法建立装载机工作装置运动学方程,为研究装载机工作装置的运动学和动力学提供了新的思路。首先分析装载机工作装置的结构和作业过程,用齐次坐标变换的方法选择坐标旋转基点路径,求解旋转角,建立工作装置运动学方程。然后在ADAMS中建立工作装置虚拟样机并进行仿真分析。运动学方程的计算数据和虚拟样机仿真数据的比较表明,运动学方程与虚拟样机仿真是一致的。 The method of homogeneous coordinate transformation is used to establish the kinematic equation of loader working device, which provides a new idea for studying the kinematics and dynamics of loader working device. Firstly, the structure and working process of loader working device are analyzed. The coordinate rotation base point path is selected by homogeneous coordinate transformation, the rotation angle is solved, and the kinematics equation of working device is established. Then set up the working device virtual prototype in ADAMS and carry on the simulation analysis. The comparison between the kinematics equation data and the virtual prototype simulation data shows that the kinematics equation is consistent with the virtual prototype simulation.