中文摘要：

应用拉格朗日动力学原理建立挖掘机工作装置动力学数学模型，以某型23 t挖掘机工作装置为研究对象，采用Pro/E软件对该挖掘机工作装置建立三维实体模型，用虚拟样机技术与动力学仿真软件ADAMS对挖掘机工作装置进行运动学和动力学仿真，获得挖掘机工作尺寸参数、各铰接点处的受力情况及相关受力曲线。研究结果表明：运用拉格朗日动力学原理建立的挖掘机工作装置动力学数学模型，为挖掘机工作装置仿真研究提供了便利；最大挖掘高度、最大挖掘半径、最大卸载高度、最大挖掘半径停机面上最大挖掘半径与实际作业结果相吻合，通过动力学仿真分析得出的各液压缸受力曲线及挖掘机各关键铰接点的受力曲线，为挖掘机工作装置结构设计与产品优化提供了依据和方法。

英文摘要：

The dynamics mathematical model of excavator working device was established by using the Lagrange dynamics principle. Taking a certain type of 23 t excavator as the research object, the software Pro/E was adopted to create the three-dimensional physical model of excavator working device, and kinematics and dynamics simulation of excavator working device were carried out with the virtual prototype technology and the software ADAMS. The operating parameters of excavator and the stress state of each joints as well as corresponding stress curves were obtained. The results show that the dynamics mathematical model of excavator working device with Lagrange dynamics principle provides the convenience for its simulation research. The simulation results matches well with the real working results, which provides the basis and method of structural design and products optimization for excavator working device.