On the basis of analyzing the construction characteristics and the working proce ss of a revolving spade soil opener a mathematical model was established to desc ribe spade moving trace.

• 在分析铲式成穴器的结构特点和工作过程的基础上，建立了打穴铲运动轨迹的数学模型并分析了打穴铲的运动规律和成穴机理。