JRM Vol.13 No.2 pp. 176-182
doi: 10.20965/jrm.2001.p0176


Design of Active Cord Mechanism ACM-R2 to Realize 3-D Motions

Keiji Togawa and Shigeo Hirose

Tokyo Institute of Technology, Department of Mechanical and Aerospace Engineering, 2-12-1 O-okayama Meguro-ku, Tokyo 152-8552 Japan

October 3, 2000
November 7, 2000
April 20, 2001
active cord mechanism, ACM, snake, M-Drive, float differential torque sensor, glide propulsion
This paper describes the development of ACM-R2, which is new version of Active Cord Mechanism with 3D mobility. This ACM-R2 is installed with a driving mechanism called "M-drive" This mechanism enables ACM-R2 to acquire a high output/mass ratio and torque limiting joints, which works as normal joint and deforms under the excessive torque. It is also installed with a new type of torque sensor "float differential torque sensor" on each joint. Additionally ACM-R2 has control computer in the joint units. These specific driving mechanisms enable ACM-R2 to demonstrate new propulsion methods and motions combining the ability of a manipulator and a locomotor.
Cite this article as:
K. Togawa and S. Hirose, “Design of Active Cord Mechanism ACM-R2 to Realize 3-D Motions,” J. Robot. Mechatron., Vol.13 No.2, pp. 176-182, 2001.
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