The research is done on boom placing bar multiple angles kinematical mechanism, the simulation of placing mechanism is realized and also the forming mechanism of enveloping graph is obtained.

• 针对混凝土泵车臂架布料机构特点,对其进行了折叠方式分析,研究了臂架布料杆倍角运动机构,实现了布料机构位姿仿真,给出了包络图形成机制