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建立了液压履带起重机回转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，对回转运动进行了数值仿真并分析了系统的动力学特性。
The multi-body dynamic model of the hydraulic crawler crane during slewing motion is established. The dynamic equations of the load shimmy are 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 slewing motion is carried out. The dynamic characteristics of the system are analyzed.