Optimal hydraulic excavator's parametric modeling design of kinematics and dynamics

According to the characteristics of the hydraulic excavator's parametric modeling,using the kinematics equation based on the Denavit Hartenberg homogeneous transformed matrix,the max digging power as the aim of optimization,The optimized answer was get based on the comprehensive characteristics of kinematics and dynamics It is established the foundation of theoretic calculation to further study and realize the automatic control of hydraulic excavator,and have application value of engineering