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以地下铲运机六杆工作机构为研究对象，建立了以大臂油缸在举升过程平均出力、大臂油缸出力方差及转斗油缸出力为目标函数，以满足工作性能要求、机构的结构要求及几何要求为约束函数的优化设计数学模型；应用混合罚函数方法编制了适合六杆机构优化设计的计算程序；对ＷＪＤ１．５ｍ３的电动铲运机工作机构进行了优化计算，得到了较为理想的结果。
Taking the six-bar working mechanism of underground scraper as the research object, the objective function of the average output of the boom cylinder in the lifting process, the output variance of the boom cylinder and the output of the rotary cylinder is established to meet the requirements of the work performance. The structural requirements And the geometrical requirements are the optimization design mathematical model of the constraint function. The mixed penalty function method is used to compile the calculation program which is suitable for the optimization design of the six-bar mechanism. The WJD1.5m3 electric scraper working mechanism is optimized and calculated, result.