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。

This paper discusses the mathematical modeling of in-pipe robot, and the analysis of the robot for fitting in pipelines such as siphon and branch pipeline.

youdao

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。

This paper discusses the mathematical modeling of in-pipe robot, and the analysis of the robot for fitting in pipelines such as siphon and branch pipeline.

youdao