1. This driving wheel engages with that servo wheel and turns it.

2. It was designed with two driving wheels at the front and a single wheel beneath the driver's seat at the rear.

3. The driving wheel, the driven wheel and the fixing wheel are connected by a mesh belt.

4. Under the condition of constant load on the driven wheel. the magnetic field was calculated and the position of the rotating driven wheel was researched.

5. A rolling bearing is positioned on the driven shaft and in an internal hole of the driven wheel.

6. Gears using two gear teeth meshing with each other to transmit power and motion of the mechanical transmission, with the main, driven wheel gear direct, transmit motion and power of the device.

7. The utility model discloses a cast iron machine chain transmission device which comprises a drive wheel, a driven wheel and a chain belt.

8. Based on calculation and analysis of the magnetic field of a novel transmission mechanism using a magnetic gear. the torque on the driven wheel was studied.

9. Taking into account the complex working environment: uneven physiognomy of deep-sea, wheel's skid, low surrounding visibility and so on, I bring forward the dead reckoning based on the driven wheel.

10. The invention has the advantages of simple fabrication, easy maintenance, long service life, no risk of locking the driven wheel and low loss.

11. The method of syntheses is an algorithm of similarity transformation based upon the fundamental relationship of theoretical profiles of driving wheel with that of driven wheel.