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.

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介绍了一种新型差速转向机构的设计，对其主要功能、结构和特点进行了分析。

The design of a new differential change over mechanism is introduced. And its main function and structural characteristics are analysed.

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介绍了一种新型差速转向机构的设计，对其主要功能、结构和特点进行了分析。

A new change over mechanism design of differential speed and its main function and structural characteristic are introduced.

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