Design and Development of Active Cord Mechanism “ACM-R3” and its 3-dimensional Locomotion Control
Design and Development of Active Cord Mechanism “ACM-R3” and its 3-dimensional Locomotion Control
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主动绳索机构“ACM-R3”及其三维运动控制的设计与开发
DOI：
10.7210/jrsj.23.886
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发表时间：
2005
期刊：
影响因子：
--
通讯作者：
S. Hirose
中科院分区：
文献类型：
--
作者：
M. Mori;Hiroya Yamada;S. Hirose
本研究探讨一种可进行三维运动的细长蛇形功能物体“活动绳索机构”的机构设计。设计了一台体积小、重量轻、输出力矩大的三维ACM机器ACM-R3，并对其二维蛇形运动的三维转向控制进行了研究。转向在本研究中的意义是围绕偏航轴、俯仰轴和横滚轴的圆周的路线变化。此外，新的推进形式，如“侧滚伺服运动”（其控制方法是基于滚动轴的转向）和“正弦提升运动”（这是一种特殊形式的俯仰轴转向）进行了检查。最新型号ACM-R3首次被用于实际实施这些新的推进方法，并通过测量每个节点产生的扭矩来实验性地检查运动能力。
This research considers the mechanism design of the“Active Cord Mechanism (ACM) ”, which is a long and slender snake-type functional object that can perform three-dimensional movement. We designed a three dimensional ACM machine named ACM-R3 that can produce large output torque in spite of its small dimensions and light weight, and considered its three-dimensional steering control of two-dimensional serpentine locomotion. The meaning of steering in this research is the route change around the circumference of yaw, pitch and roll axes. Furthermore, novel propulsion forms, such as“Serpentine Locomotion with Lateral-Rolling” (whose control method is based on the steering of the roll axis) and“Sinus-Lifting Locomotion” (which is a special form of pitch axis steering) are examined. The latest model ACM-R3 was used to actually implement, for the first time ever, these new propulsion methods, and also to examine the motion ability experiemntally by measuring the torque produced at each node.