No, unfortunately AIM-VPN/EPII-PLUS is only supported on 2800 series and 3825 router. For 1841, you would need AIM-VPN/BPII-PLUS. Here is the Q&A for your reference:

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Cisco IOS/IPSec is the implementation of IPSec within Cisco's Internetwork Operating System (IOS). IPSec is a proposed Internet standard (RFCs 2401-2410 and 2451) which provides confidentiality, authentication and integrity for IP data transmitted over untrusted links or networks. A common application of IOS/IPSec is the construction of Virtual Private Networks (VPNs).The scope of the

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Cisco 1841 Modular Desktop Router (1RU) with 2 x Fast Ethernet (10/100) ports, 2 WAN slots, 1 AIM slot, 1 USB Ports, 32MB Flash, 128MB DRAM. Data-throughput capability: up to 800-Mbps aggregate. Integrated Hardware-based Encryption, Cisco 1841 router supports hardware-accelerated encryption through AIM modules (AIM-VPN/BPII-PLUS, AIM-VPN/SSL-1).

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