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
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.
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