中文摘要：

提出一种新型矿用正铲液压挖掘机，其工作装置是一个复杂的多环耦合机构。采用修正的Griibler-Kutzbach公式分析工作装置的自由度，得出该工作装置能够满足正铲作业要求，可以实现两个移动和一个转动。基于运动链环路理论，建立通用的机构运动学分析框图，并且利用该框图对机构进行运动学分析。基于运动学正解分析矿用正铲液压挖掘机的水平挖掘时理论可达的工作空间，得出该机构在水平挖掘时铲斗与地面的倾角为30^。～50^。时挖掘空间最优，满足挖掘机水平挖掘的作业要求。基于机构运动分析框图对机构进行速度分析，得到液压缸的输入速度与铲斗输出运动之间的雅可比矩阵。最后给出了五组数值算例，对运动学分析进行验证。研究结果为该机构的设计和使用提供重要的理论依据。

英文摘要：

A new hydraulic face-shovel excavator is proposed and its working device is a complex multi-loops coupling mechanism. The degrees of freedom of the working device are analyzed by using the modified Griibler-Kutzbach criterion. The result shows that the degrees of freedom of the working device are two translations and one rotation on a plane, which can meet the requirements of face-shovel excavator. Based on the loop algebra theory, a universal mechanical kinematics analyses black diagram is established, with which the kinematics of the mechanism is investigated. The workspace of the hydraulic face-shovel excavator is derived by the analysis of forward kinematics. The analyzed result shows the workspace is optimal when the angle between the shovel and the ground is 30^.～50^. , which meets the operation demand of level mining of face-shovel excavators. The velocity is analyzed by using the method of black diagram, the Jacobian matrix of input velocity and output kinematics are obtained. Finally, five numerical examples are given to verify the above analysis. Comparative analysis of the results shows that the method is reliable. The research result will lay the foundation for the application of the mechanism.