中文摘要：

为了使差动机构在摇杆式移动机器人上得到更好的应用，分析了摇杆式移动机器人差动机构的作用和特征；它可以将两摇杆的转角线性平均为机器人的车体转角．在此基础上，提出了6种齿轮式差动机构，包括ZUWGW型、NW型、DW型、WW型、NGWW型等5种2K-H行星齿轮机构和1种由两个NGW型2K-H行星齿轮机构组成的差动机构．分析了各机构的工作原理和特点，推导出了各差动机构的实现条件，并为其中的ZUWGW型锥齿轮式差动机构和NGWW型行星齿轮相互啮合式差动机构提供了详细的结构设计实例．

英文摘要：

For a better application of differential mechanism to rocker-type mobile robot, this paper analyzes the functions and characteristics of differential mechanism for rocker-type mobile robot, which keeps the robot body at an average angle between the two rockers. Six gear-type diffe~e~dial mechanisms ate proposed, including the types of ZUWGW, NW, DW, WW and NGWW 2K-H planetary gear differential mechanisms and a differenlial mechanism consisting of two NGW 2K-H planetary gear mechanisms. The operating principle and characteristics of each differential mechanism are anRlyzed, their realization conditions are deduced, and the detailed mechanical structure designs of a ZUWGW type bevel gear differential mechanism and a NGWW type planetary gear differential mechanism are given.