Development of active cord mechanism ACM-R3 with agile 3D mobility

Author

Mori, Makoto ; Hirose, Shigeo

Author_Institution

Dept. of Mechano-Aerosp. Eng., Tokyo Inst. of Technol., Japan

Volume

3

fYear

2001

fDate

2001

Firstpage

1552

Abstract

This paper describes the development of ACM-R3, which is a new version of the active cord mechanism with three-dimensional mobility. This ACM-R3 is equipped with large passive wheels which wrap its overall body, and has frictional characteristic as snake-like skin. It is also equipped with radio controlled servomotors with some gears added to them, and held tightly by shell flames so that it can move steadily and with high power. Each unit of ACM-R3 consists of a very simple structure, batteries, and electronic circuits to control itself. Consequently, ACM-R3 consists of as many units as we want to use, and is suitable for the platform of snake-like robotics researchers. ACM-R3 can demonstrate new propulsion methods and motions, combining the ability of a manipulator and a propulsion unit

Keywords

mobile robots; motion control; propulsion; servomotors; 3D mobility; ACM-R3; active cord mechanism; mobile robots; passive wheels; propulsion; servomotors; snake-like robotics; Batteries; Electronic circuits; Fires; Gears; Propulsion; Radio control; Robots; Servomotors; Skin; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2001. Proceedings. 2001 IEEE/RSJ International Conference on

Conference_Location

Maui, HI

Print_ISBN

0-7803-6612-3

Type

conf

DOI

10.1109/IROS.2001.977200

Filename

977200