中文摘要：

为验证三轴差动式管道机器人驱动单元机械自适应特性,深层解析三轴差动式驱动单元的机构传动原理,研制了包含三轴差动驱动单元、模拟运行环境、性能测试系统在内的机器人自适应特性实验系统.以定量评价三轴差动驱动单元特性为目标,建立了性能指标评价集,客观评价了新型三轴差动驱动单元的性能.实验研究表明,三轴差动式管道机器人驱动单元对管道环境的几何约束的各种变化具有良好的机械自适应特性.

英文摘要：

To verify mechanical self-adaptability of drive unit of the tri-axial differential in-pipe robot,and to deeply analyze the transmission principle of the tri-axis differential drive unit,an experimental system of robot self-adaptability is developed,which includes tri-axis differential drive unit,simulated operating environment and performance test system.With the goal of quantitatively evaluating the performance of tri-axis differential drive unit,a performance index set is established to evaluate objectively the performance of a new type of tri-axis differential drive unit.Experimental studies show that the triaxis differential drive unit of in-pipe robot has good mechanical self-adaptability to various changes in geometric constraints of pipe environment.