中文摘要：

为解决轮式管道机器人通过弯管时的运动干涉和拖动力下降问题，减小由管道环境约束而引起的传动件磨损，对一种具有机械白适应能力的轮式管道机器人驱动——三轴差速驱动——进行了深入分析和研究．通过对三轴差速机构的受力分析，阐述三轴差速机构实现差速的受力原理；对三轴差速式管道机器人的差速特性及拖动力进行研究，验证采用三轴差速机构的管道机器人具有良好的弯管通过性．

英文摘要：

In order to solve the problems of locomotion interference and decline of traction force, reduce the abrasion of transmission parts caused by the environment restriction when the roller pipeline robot getting across the elbow, a drive technology of roller pipeline robot with a mechanical adaptability named as tri-axial differential drive is studied. The mechanics principle of differential velocity of tri-axial mechanism is expatiated through the mechanics analysis. The traveling-capability of the tri-axial differential pipeline robot when getting across the elbow are validated through the theoretical studies on differential property and traction force of the robot.