為解(jie)決管(guan)(guan)(guan)道機(ji)器(qi)(qi)人(ren)過彎時傳(chuan)動(dong)(dong)(dong)(dong)(dong)輪與管(guan)(guan)(guan)壁間(jian)的相對滑(hua)動(dong)(dong)(dong)(dong)(dong)問題(ti)以及機(ji)體對管(guan)(guan)(guan)徑尺寸(cun)的適應(ying)問題(ti)，設(she)計了(le)(le)采用一個電機(ji)進行(xing)傳(chuan)動(dong)(dong)(dong)(dong)(dong)并具備差動(dong)(dong)(dong)(dong)(dong)能力和自適應(ying)變(bian)徑尺寸(cun)的適應(ying)能力的管(guan)(guan)(guan)道機(ji)器(qi)(qi)人(ren)。分析了(le)(le)機(ji)體差動(dong)(dong)(dong)(dong)(dong)機(ji)構的傳(chuan)動(dong)(dong)(dong)(dong)(dong)特(te)性(xing)，理(li)論推導了(le)(le)管(guan)(guan)(guan)道機(ji)器(qi)(qi)人(ren)變(bian)徑機(ji)構工作狀態時的受力方程，得到了(le)(le)機(ji)器(qi)(qi)人(ren)運行(xing)時傳(chuan)動(dong)(dong)(dong)(dong)(dong)輪與管(guan)(guan)(guan)壁之間(jian)的力學關系(xi)式(shi)。構建了(le)(le)機(ji)體管(guan)(guan)(guan)內(nei)運動(dong)(dong)(dong)(dong)(dong)模(mo)型，并分析了(le)(le)機(ji)體在不同位置(zhi)條件下，模(mo)型中各輪的運動(dong)(dong)(dong)(dong)(dong)參數變(bian)化情(qing)況(kuang)。建立機(ji)器(qi)(qi)人(ren)在組合(he)管(guan)(guan)(guan)中運動(dong)(dong)(dong)(dong)(dong)的虛擬樣機(ji)模(mo)型，通過仿真實驗(yan)對機(ji)體的差動(dong)(dong)(dong)(dong)(dong)特(te)性(xing)進行(xing)了(le)(le)驗(yan)證(zheng)，結果表明機(ji)器(qi)(qi)人(ren)可以無干(gan)涉過彎，并展(zhan)現出了(le)(le)良好的傳(chuan)動(dong)(dong)(dong)(dong)(dong)性(xing)能。

  圓(yuan)柱管道在(zai)生產生活中(zhong)(zhong)被應(ying)用，適應(ying)圓(yuan)柱管道的機器(qi)(qi)(qi)人(ren)運(yun)動(dong)(dong)方式(shi)(shi)有輪(lun)式(shi)(shi)、蠕動(dong)(dong)式(shi)(shi)、履帶(dai)式(shi)(shi)和(he)行走式(shi)(shi)等多(duo)種(zhong)類(lei)型，其中(zhong)(zhong)輪(lun)式(shi)(shi)為常見。近年來，外(wai)學者先后研(yan)制(zhi)出(chu)各種(zhong)針對圓(yuan)柱管道的機器(qi)(qi)(qi)人(ren)，如中(zhong)(zhong)國科(ke)學院沈陽自動(dong)(dong)化研(yan)究所(suo)和(he)東京工業大學分(fen)別設(she)計了旋轉(zhuan)傳動(dong)(dong)管道機器(qi)(qi)(qi)人(ren)，此(ci)類(lei)機器(qi)(qi)(qi)人(ren)采用輪(lun)部螺旋運(yun)動(dong)(dong)方式(shi)(shi)帶(dai)動(dong)(dong)機體在(zai)管內行進。