Adaptive control characteristics of pipeline inspection traction device

摘要

Without differential mechanism in the drive system of pipeline inspection traction device,locomotion interference can be produced anciently when the robot is getting across the elbow.The tri-axial differential gearing system was applied to the traction device.The equations of momentum transfer in tri-axial differential gearing system were set up via theory analysis.The model of prototype machine was set up through ADAMS software and the simulation analysis was carried out.The results show that the traction device with differential mechanism has simple configuration of the drive cell,high drive efficiency,big ratio of power and cubage,and can achieve the function of mechanical self adapting.