中文摘要：

为解决轮式管道机器人通过弯管时产生的运动干涉及传动部件的磨损等问题,将三轴差速机构应用于轮式管道机器人中,三轴差速机构可根据管道对各驱动轮所产生的力矩之间的关系调节其输出转速,实现机器人在弯管中的自主差动运行。将键合图理论应用到三轴差速机构差动特性的分析中,利用绝对速度法建立三轴差速机构的增广键合图模型,并根据一定的规则推导相应的状态方程。针对三轴差速机构三个输出轴的输出不等效现象,由状态方程得出三个输出轴传动路线等效的条件,并进行相应的等效处理。根据建立的状态方程,对三轴差速机构进行不同工况下的仿真计算,计算结果表明三轴差速机构可以根据外作用力的大小关系进行差动输出。

英文摘要：

In order to solve the problems of movement interference and transmission parts abrasion,the tri-axial differential mechanism is applied in the wheel-type pipeline robot.The output velocities of the driving wheels can be regulated by the tri-axial differential mechanism according to the external torques,and the robot can move in the elbow differentially.So the theory of bond graph is applied in the analysis of the transmission property of the mechanism.The bond graph model of the tri-axial differential mechanism is established based on the method of absolute speed,and then the corresponding equation of state can be obtained.As finding the non-equivalent phenomena of the output of the mechanism,the equivalent conditions of the mechanism can be get based on the equation of state and then the corresponding equivalent treatment is done.The mechanism is simulated under different conditions,and the results show that the tri-axial differential mechanism can achieve the differential output of movement according to the relations of the external torques.