The swing angle of the follower wheel of the slurry-churn working under the water-coal slurry is researched, and its kinematic characteristics are analyzed in detail.

• 摘要对液下搅拌机器人在水煤浆储罐中工作时从动轮支架（即从动轮）的摆动角度进行了研究，并且对小车从动轮转弯时的运动性能进行了详细分析。