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用机器人动力学方法建立了液压履带起重机变幅运动时的多刚体动力学模型，用牛顿－欧拉方法得到载荷摆振的动力学方程。给出了各杆件的受力的递推公式，为起重机设计和载荷摆振控制提供了理论依据。用数值方法求解了系统动力学方程，对变幅运动过程进行了数值仿真。
The multi-body dynamics model of the hydraulic crawler crane with luffing motion is established by the method of robot dynamics, and the dynamic equation of the load shimmy is obtained by Newton-Euler method. The recursion formula of the force of each bar is given, which provides the theoretical basis for crane design and load control. The system dynamic equations are solved numerically and the numerical simulation of luffing motion is carried out.