Abstract: Based on computer simulation,the multibody kinematical model of luffing device of bucket wheel stacker/reclaimer was established. To construct constraint equations,the additional driving constraint method was used. Newton Raphson method were employed to solve the nonlinear kinematic constraint equations for position. The equation solving process was analysed. As an example,simulation for the device of DQ1000/1500·45 type stacker/reclaimer was carried out.