设计了一种煤矿抓管机器人，介绍了机器人的系统组成、核心参数和主要功能；在煤矿抓管机器人及其液压机械臂的结构特点和工作方式基础上，研究了基于固定角度法和搜索方法的机械臂逆运动学求解算法，分析了冗余机械臂的逆运动学求解原理，并给出了算法实现的详细流程。仿真结果表明：逆运动学求解得到的关节角序列能够驱动机械臂末端运动到目标位姿，求解过程可靠，验证了算法的有效性；相较现有其它逆运动学求解算法，该算法具有显式数学表达式，进而算法部署成本低。

A coal mine pipe grabbing robot is designed, and its system composition, core parameters and main functions are introduced. Based on the structural characteristics and working mode of the pipe grabbing robot and its hydraulic arm in coal mine, the inverse kinematics solving algorithm of the robot arm based on the fixed angle method and search method is studied, the inverse kinematics solving principle of the redundant robot arm is analyzed, and the detailed flow of the algorithm is given. The simulation results show that the joint angle sequence obtained by inverse kinematics can drive the end of the manipulator to the target pose, and the solving process is reliable, which verifies the effectiveness of the algorithm. Compared with other existing inverse kinematics solving algorithms, this algorithm has explicit mathematical expression, so the algorithm deployment cost is low.