Study on the Tri-axial Differential and Its Application in the Driving System of Wheel-type In-pipe Robot

摘要

In this paper, a new tri-axial differential is developed, which can be used in the driving system of in-pipe robot. Then the kinematic principle of the differential is analyzed. It has been proved that the robot with the tri-axial differential has a desirable performance through a curved pipe. At the same time, the differential can also be widely used in other situations.