The cvt transmission consists of an oil - pressure variable input ( aka " driving " ) and output ( aka " driven " ) pulley , and a metal belt that connects the two Cvt由油压输入轮（主动轮） 、输出轮（从动轮）和连接两者的金属带组成。
Just remember there are two small poly caps that have to be trapped by a small plastic disc on the inside of the side panels before these are attached to the floor for attaching the drive sprockets later 请记住装侧板前有两个胶套要和另一圆盘状塑料件装在侧板内侧，这是用来固定主动轮的。
After assembling the basic hull you can then add the suspension which consists of the drive sprockets that have excellent details and a separate inner disc for the bolt detail around the inside of sprocket 把大模样堆出来以后您就可以安装悬挂了，还有细节丰富的主动轮，包括一个装在内侧的单独开模的圆盘，用来反映主动轮内侧螺钉的细节。
Then the article specifies the control principle of the infrared sensor , the dust warehouse detection , the collision detection , the floating switch , the speedometer , the edge - walking detection , the keyboard , the liquid crystal display as well as the vacuum motor , the brush motor , the driver motor and etc . in the software design aspect , through analyzing the link between the bottom hardware and path coverage planning algorithm , it actualizes pid adjustment algorithm for the robot ’ s straight walking , the coordinate transformation and computation of speedometer ’ s return value , providing the basis for the route coverage algorithm 然后,详细说明了红外传感器,尘仓检测,碰撞检测,浮动开关,里程计,贴边行走检测、键盘、液晶显示以及吸尘电机、毛刷电机、主动轮驱动电机等控制原理。在软件设计方面,通过分析底层与路径规划算法的衔接,实现了机器人直行pid校正算法、里程计返回值的坐标变换及计算等算法,为路径覆盖算法提供依据。
