In order to improve the maximum excavation height of the backhoe excavator, a new scheme of replacing the stick linear cylinder driven excavator with the hydraulic rotary vane actuators (RVA) was proposed. Referring to the relevant parameters of an excavator, the three-dimensional models of traditional excavator and new excavator were established by SolidWorks. The kinematics simulation was carried out by ADAMS. The excavator’s motion path envelope map and bucket tooth displacement curve were obtained, and the maximum excavation height and maximum excavation radius were determined. Through comparison, it shows that using the new scheme, the maximum excavation height can be greatly improved, the feasibility of this scheme is verified, and a new idea is provided for relevant researchers.