Computer-controlled ultra high voltage amplifier for dielectric elastomer actuators

作     者：Ardi Wiranata Zebing Mao Yu Kuwajima Yuya Yamaguchi Muhammad Akhsin Muflikhun Hiroki Shigemune Naoki Hosoya Shingo Maeda 

作者机构：Department of Mechanical and Industrial EngineeringUniversity of Gadjah MadaYogyakarta 55281Indonesia Department of Mechanical EngineeringTokyo Institute of TechnologyTokyo 152-8550Japan Department of Engineering and ScienceShibaura Institute of TechnologyTokyo 135-8548Japan Department of Electrical EngineeringShibaura Institute of TechnologyTokyo 135-8548Japan Department of Engineering Science and MechanicsShibaura Institute of TechnologyTokyo 135-8548Japan Living Systems Materialogy(LiSM)Research GroupInternational Research Frontiers Initiative(IRFI)Tokyo Institute of TechnologyYokohama 226-8501Japan 

出 版 物：《Biomimetic Intelligence & Robotics》 (仿生智能与机器人（英文）)

年 卷 期：2024年第4卷第1期

页      面：14-23页

核心收录：

学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0805[工学-材料科学与工程（可授工学、理学学位）] 0802[工学-机械工程] 0811[工学-控制科学与工程] 0812[工学-计算机科学与技术（可授工学、理学学位）] 

基　　金：This work was supported by Japan Society for the Promotion of Science,Japan for their support under Grants-in-Aid for Scientific Research on Innovative Areas(18H05473) the JSPS,Japan KAKENHI(21J15489 and 23K13290) 

主　　题：Dielectric elastomer actuators Electric amplifier Soft actuators Soft robotics Soft actuator education 

摘      要：Soft robotics is a breakthrough technology to support human-robot *** soft structure of a soft robot can increase safety during human and robot *** of the promising soft actuators for soft robotics is dielectric elastomer actuators(DEAs).DEAs can operate silently and have an excellent energy *** simple structure of DEAs leads to the easy fabrication of soft *** simplicity combined with silent operation and high energy density make DEAs interesting for soft robotics *** actuation follows the Maxwell-pressure *** pressure produced in the DEAs actuation depends much on the voltage *** DEAs requires high voltage to gain an *** the power consumption of DEAs is in the milli-Watt range,the current needed to operate the DEAs can be *** commercially available DC-DC converters can convert the volt range to the kV *** order to get a voltage in the 2-3 kV range,the reliable DC-DC converter can be pricy for each *** problem hinders the education of soft actuators,especially for a newcomer laboratory that works in soft electric *** paper introduces an entirely do-it-yourself(DIY)Ultrahigh voltage amplifier(UHV-Amp)for education in soft ***-Amp can amplify 12 V to at a maximum of 4 kV *** a demonstration,we used this UHV-Amp to test a single layer of powdered-based *** strategy to build this educational type UHV-Amp was utilizing a Cockcroft-Walton circuit structure to amplify the voltage range to the kV *** its current state,the UHV-Amp has the potential to achieve approximately 4 *** created a simple platform to control the UHV-Amp from a personal *** near future,we expect this easy control of the UHV-Amp can contribute to the education of soft electric actuators.