通过对约束方程的分析讨论、与管道机器人弯道通过性的对比分析，得出了规律性的结论。
A mathematical model to describe the traveling-capability of pipeline robot in T-joint is presented, which is composed of a set of constraint equations.
在分析和测试数据基础上，给出了包括地温和“约束度”因素在内的埋地管道温度应力的修正公式。
On the ground of analytical and test data, it gives out the revision formulas for buried pipeline temperature stress which take into account such factors as soil temperature and "constrain limit".
管道的约束条件、砂床特性和加载速度对管道稳定性均有影响。
Furthermore, the constraint condition, sand property and loading velocity all affect the pipeline stability to a certain degree.
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