Lightweight High Voltage Generator for Untethered Electroadhesive Perching of Micro Air Vehicles
Lightweight High Voltage Generator for Untethered Electroadhesive Perching of Micro Air Vehicles
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DOI：
10.1109/lra.2020.3001520
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发表时间：
2020-06
影响因子：
5.2
通讯作者：
Sanghyeon Park;Daniel S. Drew;Sean Follmer;J. Rivas-Davila
中科院分区：
文献类型：
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作者：
Sanghyeon Park;Daniel S. Drew;Sean Follmer;J. Rivas-Davila
厘米级飞行机器人的飞行中电池寿命有限是其部署的主要障碍，特别是在利用其到达Vantage能力的应用中。飞行器在不使用飞行致动器的情况下通过附着在表面上而保持固定在空间中的栖息是克服这一障碍的潜在机制。电粘附，其中垂直于表面的静电力是由感应电荷产生的现象，已被证明是一个越来越可行的栖息机制，因为机器人的尺寸减小，由于增加的表面积与体积比。典型地，电粘附需要高（$>\！1$ kV）的电压来产生有用的力，这导致相对较大的电源不能被携带在微型飞行器上。在这封信中，我们激发了对电粘附栖息的应用特定的电力电子解决方案的需求，开发了一个有用的品质因数（“特定电压”），用于比较和指导工作，并通过系统实现的设计方法。我们的结论表明，这种高电压电源使，首次在文献中，系绳电粘附栖息的商业微型四旋翼。
The limited in-flight battery lifetime of centimeter-scale flying robots is a major barrier to their deployment, especially in applications which take advantage of their ability to reach high vantage points. Perching, where flyers remain fixed in space without use of flight actuators by attachment to a surface, is a potential mechanism to overcome this barrier. Electroadhesion, a phenomenon where an electrostatic force normal to a surface is generated by induced charge, has been shown to be an increasingly viable perching mechanism as robot size decreases due to the increased surface-area-to-volume ratio. Typically electroadhesion requires high ($>\!1$ kV) voltages to generate useful forces, leading to relatively large power supplies that cannot be carried on-board a micro air vehicle. In this letter, we motivate the need for application-specific power electronics solutions for electroadhesive perching, develop a useful figure of merit (the “specific voltage”) for comparing and guiding efforts, and walk through the design methodology of a system implementation. We conclude by showing that this high voltage power supply enables, for the first time in the literature, tetherless electroadhesive perching of a commercial micro quadrotor.