支撑机构采用了伞状支架，能够适用于矩形或圆形管道；清洁机构采用了钢丝绳驱动的柔性机械臂。
The support mechanism which can be used in rectangular or circular pipeline, adopts umbellar bracket.
钢丝绳绕经驱动轮时部分成圆周缠绕，一部分是直线缠绕。
When the steel wire rope is winded by the drive wheel some winded along the circumference, others winded along the straight line.
机器人；挠性驱动单元；动力学；钢丝绳建模；
导轨直通到升降井顶部。钢丝绳在顶部绕过一个滑轮。滑轮由电动机驱动可向任一方向转动。
The rails pass up to the top of the shaft, where they are taken over a pulley which can be driven in either direction by an electric motor.
介绍了架空乘人装置钢丝绳更换工艺，利用架空乘人装置驱动旧绳带新绳、钢丝绳缠绳机回收旧绳。
Introduces the wire rope changing techniques of man car, using man car to drive new ropes replacing old ones, the steel wire rope twist machine recycles old ones.
介绍了架空乘人装置钢丝绳更换工艺，利用架空乘人装置驱动旧绳带新绳、钢丝绳缠绳机回收旧绳。
Introduces the wire rope changing techniques of man car, using man car to drive new ropes replacing old ones, the steel wire rope twist machine recycles old ones.
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