分析了管道机器人在充满液体的管道中运行时的受力状况，在此基础上建立了基于欧拉参数（四元数）的潜游式管道机器人六自由度空间运动的动力学模型。对于在特定的三维弯管道内沿规划路径游动的机器人，通过流体力学仿真软件Fluent计算出机器人的流场阻力并代入该动力学模型，在Mathematica环境下可计算出机器人的受力．利用该模型进行的动力学仿真得到了机器人在确定形状的弯曲管道中游动时所需的驱动力．欧垃参数（四元数）的引入有效地避免了奇异性．

According to the force conditions of a submersible robot swimming in a fully-filled pipe, a dynamic model describing the 6-DOF （ Degree of Freedom） spatial motion of the robot is established based on Euler parameters （quaternion）. Then, for a robot swimming along the planned trajectory in a specific three-dimension pipeline, the fluid resistance is calculated with the CFD simulation software Fluent and is substituted into the proposed model to obtain the forces of the robot in the Mathematica environment. Moreover, a dynamic simulation utilizing the proposed model is performed to obtain the needed driving force when the robot swims in a determined crooked pipeline. With the use of Euler parameters （ quaternion）, singularities are effectively avoided.