Wireless Powered Dielectric Elastomer Actuator
Wireless Powered Dielectric Elastomer Actuator
复制标题
无线供电介电弹性体执行器
DOI：
10.1109/lra.2021.3097271
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发表时间：
2021
影响因子：
5.2
通讯作者：
Kuniyoshi Yasuo
中科院分区：
文献类型：
--
作者：
Chen Lai;Sasatani Takuya;Or Keung;Nishikawa Satoshi;Kawahara Yoshihiro;Niiyama Ryuma;Kuniyoshi Yasuo
软机器人系统对电缆连接的需求抑制了其柔软性和灵活性所带来的好处。这样的系统可以通过装备电池或依靠非电致动机构而不受束缚。然而，这些方法无法同时支持长期和智能操作。本研究探讨一种基于无线电力传输（WPT）与介电弹性体致动器（DEA）技术的无线软致动器，从而实现软机器人更多样化的应用与长时间的运动。提出了一种紧凑的锥形DEA制造工艺，具有6 mm周期性线性输出，并设计了一种重量仅为13 g的轻量级WPT接收器，集成了驱动电路。评估结果表明，该系统远程供电的DEA和智能外围电路的系统控制。此外，我们的设计通过利用高压升压转换器，无缝地桥接了WPT系统（在低压输出条件下具有功率效率）和DEA（需要高压输入（kV）进行变形）。实验获得的结果表明，在170毫米的发射机的无系留DEA操作。此外，我们还演示了将此DEA用作无线泵。
The need for cable connection with soft robotic systems suppresses the benefits granted by their softness and flexibility. Such systems can be untethered by equipping batteries or by relying on non-electrical actuation mechanisms. However, these approaches cannot simultaneously support long-term and intelligent operations. This research examines a proposed wireless soft actuator based on wireless power transfer (WPT) and dielectric elastomer actuator (DEA) technology, thereby realizing soft robomore diversified application and long-term locomotion. A compact conical DEA fabrication process is presented with 6 mm periodic linear output and design of a lightweight WPT receiver that weighs only 13 g integrated with a driver circuit. Evaluation results show that this system remotely powers the DEA and the intelligent peripheral circuits for system control. Furthermore, our design seamlessly bridges the WPT system, power-efficient in low-voltage output conditions, and the DEA, which requires high-voltage input (kV) for deformation, by leveraging high-voltage boost-converters. Experimentally obtained results demonstrate untethered DEA operation at 170 mm from the transmitter. Also, we demonstrated applying this DEA as a wireless pump.