油罐清洗机器人是一种针对油罐罐底油泥实施自动化清洗而研发的特殊机器人。通过建立适当坐标系,运用D-H参数法对其进行了运动学分析,得出末端执行装置位姿方程,运用拉格朗日方法求解得出其整体动力学方程。通过计算机仿真实验,验证了运动学方程和动力学方程的准确性,能够描述油罐清洗机器人的运动特性,在该机器人的运动控制和系统稳定性分析方面具有一定的参考价值。 The tank cleaning robot is a special robot developed for the automated cleaning of tank bottom sludge. Through the establishment of the appropriate coordinate system, using the D-H parameter method to carry out the kinematics analysis of the end-effector pose-attitude equation, the Lagrange method was used to solve the overall dynamics equation. Through computer simulation experiments, the accuracy of kinematic equation and kinetic equation is verified, and the motion characteristics of tank cleaning robot can be described. It has certain reference value in the robot motion control and system stability analysis.