介绍了基于单向运动机构的伸缩式管道机器人工作原理，对管道机器人整机系统进行合理简化，得到等效系统模型。
First introduce the working principle of the inchworm in-pipe robot based on unilateral movement mechanism, and then an equivalent system model is founded after simplifying the whole robot system.
升降机构采用单向整体调节，升降统一、平稳、转动自如。
Life organization adopt single direction regulate, life unify. Steady and turn to move vivid.
本文讨论了以非完整配置的单向推力器系统为执行机构时，刚性航天器的去翻滚控制问题。
This paper discusses the problem of detumbling a rigid spacecraft with an incomplete configuration of one sided thruster.
该内环和外环优选地通过允 许在它们之间的单向推进的棘齿机构来连接。
The inner and outer rings are preferably connected by means of a ratchet mechanism allowing for one way advancement there-between.
电动机单向旋转，用曲柄摇杆机构换向，实现悬点的往复直线运动。
The prime motor rotates in a fixed direction and the alternating motion of the carrier bar is accomplished by the crank-rocker mechanism.
电动机单向旋转，用曲柄摇杆机构换向，实现悬点的往复直线运动。
The prime motor rotates in a fixed direction and the alternating motion of the carrier bar is accomplished by the crank-rocker mechanism.
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