针对煤矿井下巷道实际环境条件与井下管道安装这一实际应用背景，设计一款关节式巷道管道安装机器人，对机械臂结构进行详细设计并完成其三维建模。建立机器人运动学模型，通过MATLAB对机械臂的正逆运动学进行验证。基于所建的运动学模型进行机械臂笛卡尔空间的轨迹规划算法设计，通过MATLAB和ADAMS软件对机械臂进行仿真实验验证。仿真表明，本机械臂的结构设计合理，机械臂轨迹规划方案可行。

Given the practical application background of installing underground pipelines in coal mine tunnels and the actual environmental conditions underground, a jointed tunnel pipeline installation robot was designed. The detailed design of the robotic arm structure was completed, along with its 3D modeling. The kinematic model of the robot was established, and MATLAB was employed to verify the forward and inverse kinematics of the robotic arm. Based on the established kinematic model, a trajectory planning algorithm for the Cartesian space of the robotic arm was designed, and MATLAB and ADAMS software were used to verify the robotic arm through simulation experiments. The simulation demonstrates that the structural design of the robotic arm is reasonable, and the trajectory planning scheme for the robotic arm is feasible.