The invention discloses a four-legged wall-climbing
robot for the inner wall of a pipeline and a kinematic
analysis method thereof. The four-legged wall-climbing
robot comprises a
waist joint, four legs connected to the
waist joint and a controller. The four legs are arranged in groups of two and are distributed on both sides of the
waist joint. Each leg is composed of a hip joint, a
thigh joint, a calf joint, a connecting frame and a foot end. The hip joint, the
thigh joint and the calf joint can be rotatably mounted on the connecting frame, and the hip joint, the
thigh joint, the calf joint and the foot end are connected in sequence through the connecting frame, and the two legs in the same group are connected through the connecting frame; the controller is arranged at the waist joint, and the controller connects and controls the joints and the foot end of each leg. The
robot of the invention can move flexibly in the pipeline. The invention performs kinematic analysis on the robot, analyzes the position and posture of the robot in the pipeline, and analyzes the single-leg coordinate
system of the robot, and obtains the forward and inverse solutions of the
robot motion, which can facilitate the
motion control of the robot.