A Flexible Lightweight 7.4 V Input 300 V to 1500 V Output Power Converter for an Untethered Modular Piezoelectric Soft Robot

IF 1 4区工程技术 Q4 COMPUTER SCIENCE, INTERDISCIPLINARY APPLICATIONS Compel-The International Journal for Computation and Mathematics in Electrical and Electronic Engineering Pub Date : 2023-06-25 DOI:10.1109/COMPEL52896.2023.10221022

Hsin Cheng, Zhiwu Zheng, Prakhar Kumar, Yenan Chen, J. Baek, Ben Kim, Sigurd Wagner, N. Verma, J. Sturm, Minjie Chen

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Abstract

Soft robot is an enabling technology for many emerging applications. The operation voltages of many electric soft actuators, i.e., Macro Fiber Composites (MFC) and Dielectric Elastomer Actuators (DEA), are usually in the range of hundreds to thousands of volts. Actuators in a soft robot often need to be coordinated efficiently, precisely or rapidly, to perform useful functions such as crawling, jumping, or swimming. This paper presents the design and implementation of a flexible, lightweight, and modular power converter for multi-actuator piezoelectric soft robots. Output pulses of 300 V to 1500 V, 1 W, can be generated from 7.4 V input voltage with less than 5g of power electronics weight. A fully untethered, modular, scalable soft robot platform enables new opportunities for hardware, software, power, and control co-design.

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柔性轻量级7.4 V输入300v至1500v输出功率转换器用于无系绳模块化压电软机器人

软机器人是许多新兴应用的使能技术。许多电动软致动器，即宏纤维复合材料(MFC)和介电弹性体致动器(DEA)的工作电压通常在数百至数千伏的范围内。软体机器人中的执行器通常需要高效、精确或快速地协调，以执行有用的功能，如爬行、跳跃或游泳。本文介绍了一种柔性、轻量化、模块化的多致动器压电软机器人电源转换器的设计与实现。在电力电子重量小于5g的情况下，7.4 V的输入电压可以产生300v ~ 1500v、1w的输出脉冲。一个完全不受束缚的、模块化的、可扩展的软机器人平台为硬件、软件、电源和控制协同设计提供了新的机会。

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来源期刊

Compel-The International Journal for Computation and Mathematics in Electrical and Electronic Engineering 工程技术-工程：电子与电气

CiteScore

1.60

自引率

0.00%

发文量

124

审稿时长

4.2 months

期刊介绍： COMPEL exists for the discussion and dissemination of computational and analytical methods in electrical and electronic engineering. The main emphasis of papers should be on methods and new techniques, or the application of existing techniques in a novel way. Whilst papers with immediate application to particular engineering problems are welcome, so too are papers that form a basis for further development in the area of study. A double-blind review process ensures the content''s validity and relevance.