Study of a 2-DOF joint for the small Active Cord Mechanism
Study of a 2-DOF joint for the small Active Cord Mechanism
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DOI：
10.1109/robot.2009.5152837
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发表时间：
2009-05
期刊：
影响因子：
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通讯作者：
Hiroya Yamada;S. Hirose
中科院分区：
文献类型：
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作者：
Hiroya Yamada;S. Hirose
主动绳索机构（ACM），如蛇形机器人，由于其细长的身体，适合在狭窄的环境中执行任务，但先前研究开发的机械模型对于实际使用来说有点大。在本文中，我们提出了一种新的小型 ACM 2 自由度关节机构。通常的关节机构具有与执行器相同数量的旋转轴，但所提出的机构针对 2 个执行器具有 4 个旋转轴。该关节机构具有较大的运动范围，可以提高ACM在狭窄环境下的能力。我们验证了所提出机制的规范，结果表明它适用于小型 ACM。此外，我们利用所提出的关节机构开发了ACM，它实现了侧绕运动，这是一种蛇的运动方式。我们认为这个结果表明所提出的机制将有助于小型 ACM 的研究。
The Active Cord Mechanism (ACM) such as a snake-like robot is suitable for tasks in a narrow environment because of its slender body, but mechanical models developed in prior research were somewhat large for practical usage. In this paper, we propose a new 2-dof joint mechanism for the small ACM. A usual joint mechanism has the same number of rotational axes as that of the actuators, but the proposed mechanism has 4 rotation axes against 2 actuators. This joint mechanism has relatively large range of motion and it can improve the capability of ACM in a narrow environment. We verified the specification of the proposed mechanism and the result showed that it is suitable for the small ACM. In addition, we developed the ACM with the proposed joint mechanism, and it realized a sidewinding motion, which is a kind of snakes' locomotion style. We think this result shows that the proposed mechanism will contribute to the study of the small ACM.