• CN：11-2187/TH
• ISSN：0577-6686

›› 2008, Vol. 44 ›› Issue (9): 128-133.

• 论文 •

### 三轴差动式管道机器人机械自适应驱动技术

1. 哈尔滨工业大学机电工程学院;北华大学机械工程学院
• 发布日期:2008-09-15

### Mechanical Self-adaptive Drive Technology of Triaxial Differential Pipe-robot

TANG Dewei;LI Qingkai;LIANG Tao;JIANG Shengyuan;DENG Zongquan

1. School of Mechatronic Engineering, Harbin Institute of Technology Mechanical Engineering College, Beihua University
• Published:2008-09-15

Abstract: In order to solve the problem of locomotion interference for the roller pipe-robot when getting across a bend pipe, reduce the abrasion because of sliding frication and improve the service life of this kind of robots, a drive technology of roller pipe-robot with self-adaptive ability which is named triaxial differential drive technology is presented. After theoretical analysis on motion relation and torque transmission relation between parts of pipe-robot’s internal transmission system and in-depth research on internal power flow direction, mathematical models of torque transmission relation are established, the theoretical formula of transmission efficiency is deduced, and the high drive efficiency and big power to volume ratio of this drive technology are proved .