中文摘要：

基于ADAMS软件利用图解法求解一种新型的五节折叠式消防车臂架端点的工作空间。当仿真受到多个输入变量影响，无法直接描绘出臂架端点的整个工作空间时，此时创造性的运用积分法来求得端点的轨迹，具体的将其中的某些输入变量离散化，分别求得局部范围内的工作空间，然后将离散的轨迹逐渐的叠加，得到整个范围的工作空间。最终得到这种新型的五节折叠式消防车臂架端点在二维和三维内的可达空间和有限灵活工作空间。

英文摘要：

This paper mainly focuses on applying graphic method with ADAMS to figure out the end point workspace of a new fire engine＇s five-joint folding arm which is supported by the pumper. When the simulation is influenced by many input variables, so it cant directly plot the whole endpoint work-space of the arm. At this time, the calculus method is creatively used to obtain the endpoint trajectoy and some of the input variables are discretized, then the workspace within the local range can be achieved respectivey. And the discrete trajectories are gradually superosed to get the whole range work-space. Finally, the accessible work-space and limited flexible work-space of this new five-joint folding arm supported by pumper are obtained.