Its driving unit is composed of three axle differential speed typed driving module and elastic all active wheel leg typed pipe diameter adaptable module. 提出了一种新型差动式管道机器人&机械自适应型管道机器人,其驱动单元是由三轴差速式驱动模块与弹性全主动轮腿式管径适应模块组成。
Taking the leg pile and horizontal bar of the platform as example to verify the index can also be applied to crack diagnosis of the pipe on platform. 通过对平台桩腿和水平杆的计算,验证了本文的裂纹诊断指标&振型差值曲率对导管架平台的管构件同样适用。