The paper describes an efficient method for analysing the different attachment kinematics of excavators and other linkages by taking into account digging forces, the workspace and the stability of the machines. The different attachment kinematic systems of hydraulic excavators and a classical analysing method' will be presented. The method was integrated as a plug-in for the multibody simulation (MBS) software MSC.ADAMS to create an easy to use solution for design engineers. A comparison of the new MBS-solution with the classical static analysis is a part of this paper and shows the advantages of the new method. This takes into account the manifold and new dynamic analysing opportunities, as well as more detailed models leading to more accurate results.