Abstract: 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.