本文论述了液压气动复杂连杆机构的组成原理,并导出了这类机构运动分析用的基本公式。在推导速度和加速度方程时应用了矢量代数法。本文以ZL50型装载机为实例。 This paper discusses the composition principle of hydraulic and pneumatic complex linkages and derives the basic formulas for the motion analysis of such mechanisms. Vector algebra is used in deriving the equations of velocity and acceleration. ZL50 type loader in this paper as an example.