Design and Research of a Tri-axial Differential Drive Unit for In-Pipe Robot
ZHANG Xue-wen1,3, DENG Zong-quan2, JIA Ya-zhou1, JIANG Sheng-yuan3, JIANG Xu-dong1,3
1. Institute of Mechanical Science and Engineering, Jilin University, Changchun 130022, China; 2. School of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150001, China; 3. College of Mechanical Engineering, Beihua University, Jilin 132021, China
Abstract：A tri-axial differential drive unit composed of a tri-axial differential mechanism and a pipe diameter adapting mechanism is designed for in-pipe robot,and both differential property and mechanics property in straight and elbow pipes are analyzed theoretically.In straight pipe,the drive unit doesn't perform tri-axial differential operation;in elbow pipe,it realizes autonomous differential function with pure wheel rolling and without parasite power according to the topological environment of internal pipe.The designed tri-axial differential drive unit of in-pipe robot has laid a foundation for theoretical research of differential in-pipe robot with mechanical adaptability.
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