机器人的承重行走采用伞形轮来实现，伞形轮的越障运动由槽凸轮机构控制。
The robot was supported and driven by umbrella shaped wheels, whose motions of spanning obstacles were controlled by groove pulley and cam mechanism .
机器人的承重行走采用伞形轮来实现，伞形轮的越障运动由槽凸轮机构控制。
The robot was supported and driven by umbrella shaped wheels, whose motions of spanning obstacles were controlled by groove pulley and cam mechanism.
结合双槽凸轮的参数设计和其曲线的基本走向，得出了内、外凸轮曲线的方程。
The curvilinear equations of the inner and outer cams are obtained based on the analysis on the parameter design and the curve shape of the double-slot CAM.
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