Abstract: To address the difficulty of manual internal maintenance of Gas Insulated Switchgear (GIS) equipment, a robot is designed for internal inspection and foreign object removal in GIS busbar pipelines. It accommodates pipe diameters of 630 mm and above. First, according to actual requirements, the functional modules of the robot are designed and 3D modeled. Second, the kinematic models of the Mecanum wheel set and the manipulator module are analyzed. Then, the robot is simulated using Adams software. The performance advantages of the symmetric flipping mechanism and the working range of the robot are verified. Finally, a physical prototype is manufactured, and experiments are conducted in a simulated pipeline environment. The experimental results show that omnidirectional movement and stable climbing inside the pipe can be achieved by the robot, and the suction pipe of the vacuum unit can be controlled by the manipulator module to approach and remove foreign objects. Thus, the practical requirements of GIS pipeline maintenance are fully met. A reference is provided by this work for related research on GIS inspection robots.