Offset driving wheel in combination with castor wheel increase stability of truck during lifting, while minimize the maintenance frequency compared to a single central wheel.
偏置式驱动轮与万向轮相结合，增加车子在操作过程中的稳定性，同时减少了万向轮的维修频率。
Through the analysis of the rotation of the wheel center round the kingpin axis, derive spindle offset and longitudinal kingpin offset algorithm;
通过分析车轮转动时轮心相对于主销轴线的运动，推导出主销横向偏移距及主销纵向偏移距的算法；
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