| 三轴差速器及其在管道机器人驱动系统中的应用研究 |
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| 引用本文： | 姜生元,邓宗全,李瑰贤.三轴差速器及其在管道机器人驱动系统中的应用研究[J].中国机械工程,2002,13(10):877-879. |
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| 作者姓名： | 姜生元 邓宗全 李瑰贤 |
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| 作者单位： | 哈尔滨工业大学,哈尔滨市,150001 |
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| 基金项目： | 国家 8 63高技术研究发展计划资助项目 (863 -5 12 -980 3 -0 3) |
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| 摘 要： | 根据轮式管道机器人过弯管的具体要求，提出了一种新型三轴差速器。推导了三轴差速器的运动关系方程，经验证核差速器可以完成过弯管机器人的三轮差动任务，还可以应用在其它具有多轴差要求的传动系统中。
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| 关 键 词： | 三轴差速器 运动关系 管道机器人 弯管 |
| 文章编号： | 1004-132(2002)10-0877-03 |
Study on the Tri-axial Differential and Its Application in the Driving System of Wheel-type In-pipe Robot |
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| JIANG Shengyuan.Study on the Tri-axial Differential and Its Application in the Driving System of Wheel-type In-pipe Robot[J].China Mechanical Engineering,2002,13(10):877-879. |
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| Authors: | JIANG Shengyuan |
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| Abstract: | In this paper, a new tri-axial differential is developed, which can be used in the driving system of in-pipe robot. Then the kinematic principle of the differential is analyzed. It has been proved that the robot with the tri-axial differential has a desirable performance through a curved pipe. At the same time, the differential can also be widely used in other situations. |
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| Keywords: | tri-axial differential kinematic principle in-pipe robot bended pipe |
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