混凝土喷射台车机械臂设计十分复杂，机械臂末端执行器工作路径的控制问题是设计的关键。为解决各关节驱动控制的问题，研究机械臂结构和执行器工作路径的关系，利用D-H法建立机械臂的运动数学模型，给出其逆向运动学解。利用Matlab和COSMOSMotion计算预定喷射路径下机械臂的杆件参数，通过虚拟样机实验仿真机械臂的运动。仿真结果满足工作要求，验证了逆向运动学解的正确性。该方法可应用于类似机械臂的研究。

The design of the manipulators of shotcreting machines is complex. The control of the working path of the endeffector is the key point of the design. In order to solve the control problem of the joint drives, the authors make study on the relationship between the working path of the endeffector and the structure of the manipulator, build the kinematics equation by DH coordination system, and provide the inverse kinematics solution. The inverse kinematics solution method is employed to calculate the pole parameters of the manipulator under a given shotcreting path by using Matlab and COSMOSMotion language. A virtue prototype experiment is designed to simulate the motion of the manipulator. The simulation result meets the working requirements. It shows that the inverse kinematics solution is correct. The mentioned method can be applied to the study on similar manipulators.