Taper support rib: rib conical taper at the circumferential rib support, in between the CAMgroove, Roller CAM with the circumference of linear contact.
锥形肋位于锥度支撑肋的圆周上，在凸轮凹槽之间，与凸轮滚子的圆周线性接触。
2
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。
3
Taper support Rib : Rib conical taper at the circumferential rib support, in between the camgroove, Roller Cam with the circumference of linear contact.