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Computer-controlled ultra high voltage amplifier for dielectric elastomer actuators

Biomimetic Intelligence & Robotics 2024年第1期4卷 14-23页

作者： Ardi Wiranata Zebing Mao Yu Kuwajima Yuya Yamaguchi Muhammad Akhsin Muflikhun Hiroki Shigemune Naoki Hosoya Shingo Maeda Department of Mechanical and Industrial Engineering University of Gadjah MadaYogyakarta 55281Indonesia Department of Mechanical Engineering Tokyo Institute of TechnologyTokyo 152-8550Japan Department of Engineering and Science Shibaura Institute of TechnologyTokyo 135-8548Japan Department of Electrical Engineering Shibaura Institute of TechnologyTokyo 135-8548Japan Department of Engineering Science and Mechanics Shibaura Institute of TechnologyTokyo 135-8548Japan Living Systems Materialogy(LiSM)Research Group International Research Frontiers Initiative(IRFI)Tokyo Institute of TechnologyYokohama 226-8501Japan

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.

关键词： dielectric elastomer actuators Electric amplifier Soft actuators Soft robotics Soft actuator education

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Toward broad optimal output bandwidth dielectric elastomer actuators

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Science China(Technological Sciences) 2022年第5期65卷 1137-1148页

作者： CAO ChongJing CHEN LiJin LI Bo CHEN GuiMin NIE ZeDong WANG Lei GAO Xing Research Centre for Medical Robotics and Minimally Invasive Surgical Devices Shenzhen Institute of Advanced Technology(SIAT)Chinese Academy of SciencesShenzhen518055China Shaanxi Key Laboratory of Intelligent Robots School of Mechanical EngineeringXi’an Jiaotong UniversityXi’an710049China

dielectric elastomer actuators(DEAs)are one of the most promising soft actuation technologies owing to their relatively high power density and electromechanical efficiency enabled by a resonant actuation ***,existing DEA designs suffer from a very narrow optimal output bandwidth close to resonance and poor output control capability due to their fixed geometrical *** condition greatly limits their applications in programmable actuation and broad-bandwidth ***,this work developed a novel resonance tunable DEA(RTDEA)design for broad-optimal-output actuation bandwidths that is enabled by an integration of a stiffness and voltage control *** design features a broad resonant frequency adjustment from 84 to 126 Hz and independent tunings of its resonant amplitude and *** studies were conducted to illustrate the fundamental principles behind the resonance tuning strategy,and optimization was performed to maximize the tuning ***,a resonance tuning control strategy is proposed to achieve accurate adjustments of the RTDEA’s resonance based on the stiffness and voltage control *** resonance tunable soft actuators are envisioned to greatly expand DEAs’applications in,for instance,soft robotic locomotion,human–robot communication,and active vibrational control with demands of broad actuation bandwidths and high output performance.

关键词： dielectric elastomer actuators soft robotics soft actuators resonance tuning resonant actuation

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