机器人采用内置电动机及传动机构的全主动轮杆式结构，包括六只驱动臂杆和机架杆。
The robot has link structures of whole active wheels with motor and transmission mechanism built in it, which includes six driving arm links and a body frame.
控制臂的功能是在于阻止调整装置相对传动装置做旋转运动。
The function of the control arm is preventing rotation of the adjustment mechanism relative to the actuator.
本文将转臂轴承视为弹性环节建立并提出适合于这类传动的变形协调普遍方程。
In this thesis, the equations have been set up through treating bearings of rocker arm as elastic component.
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