The effect of a moving mass and other parameters on the linear dynamic response of pipeline was analyzed in the course of applying CMR to the pipeline in high altitude.

• 分析了在高空管道维护中包括机器人质量在内的多参数对管道线性动态响应的影响 ；并根据机器人以不同速度在管道上运动作业所产生的动态响应进行了数值仿真 .