管道机器人三轴差动式驱动单元的设计研究

设计了由三轴差速机构、管径适应机构组成的管道机器人三轴差动式驱动单元，对驱动单元在直管、弯管的差速特性与力学特性进行了理论分析．三轴差动式驱动单元在直管中运动时差速机构不起作用；在弯管运动时，根据管道拓扑环境实现自主差速，且行走轮运动状态为纯滚动，无寄生功率产生．所设计的管道机器人三轴差动式驱动单元为机械自适应型差动式管道机器人的理论研究奠定了基础．

Design and Research of a Tri-axial Differential Drive Unit for In-Pipe Robot

A tri-axial differential drive unit composed of a tri-axial differential mechanism and a pipe diameter adapting mechanism is designed for in-pipe robot,and both differential property and mechanics property in straight and elbow pipes are analyzed theoretically.In straight pipe,the drive unit doesn't perform tri-axial differential operation;in elbow pipe,it realizes autonomous differential function with pure wheel rolling and without parasite power according to the topological environment of internal pipe.The designed tri-axial differential drive unit of in-pipe robot has laid a foundation for theoretical research of differential in-pipe robot with mechanical adaptability.