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根据集装箱装卸对起重设备的要求，建立了四连杆组合臂架多用途门座式起重机补偿装置优化设计数学模型，实际应用表明效果良好
According to the requirement of container handling for lifting equipment, a mathematical model of optimal design of multi-purpose gantry crane with four-bar linkage arm is established, which shows good effect