Mechanical Self-adaptive Drive Technology of Triaxial Differential Pipe-robot
Mechanical Self-adaptive Drive Technology of Triaxial Differential Pipe-robot
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DOI：
10.3901/jme.2008.09.128
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发表时间：
2008
影响因子：
4.2
通讯作者：
Tang Dewei
中科院分区：
文献类型：
--
作者：
Tang Dewei
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.
