The multi body dynamic model of working equipment was set up.Links, rockers and lift arm were considered as elastic bodies and bucket, and cylinders as rigid bodies.

• 将连杆、摇臂和动臂均看作弹性体，液压缸和铲斗为刚体，建立了完整的装载工作装置的刚-弹性体系统动力学模型。