Oil tank cleaning robot is a kind of special one which is researched and developed to implement automatic cleaning of its bottom sludge.The appropriate coordinate system is established and kinematics analysis is carried out by the method of D-H parameters

the pose equation of end actuators is obtained and the system dynamics equation is concluded by Normal Lagrange of the robot.Through the computer simulation

the accuracy of the kinematics and dynamics equations is verified.The movement characteristics of oil tank cleaning robot can be accurately described by the equations

and it has a certain referenced value of the robot motion control and system stability analysis.