用低压电路驱动高压微型机器人，实现无线爬行与实时传视频
Portable, High-Frequency, and High-Voltage Control Circuits for Untethered Miniature Robots Driven by Dielectric Elastomer Actuators
- 串联低电压元件实现1.8kV高压输出，体积小频率高
- 2.5克单通道板支持15赫兹驱动，42克机器人可管道爬行
- 适合可穿戴、微型机器人等便携式设备应用
本文提出一种适用于无缆微型机器人的高电压、高频控制电路。该电路板通过串联低电压电阻元件，在紧凑尺寸内实现最高1.8 kV的电压控制，工作频率范围为0至1 kHz。单通道控制板仅重2.5克。在不同负载和电源条件下测试了电路性能。基于此电路与商用微型高压电源模块，构建了一种由圆柱形介电弹性体执行器（cylindrical DEA）驱动的无缆爬行机器人。42克的机器人在实验台上及管道内以15赫兹频率成功实现爬行运动，并同步通过机载摄像头和天线传输实时视频数据。本工作为利用低压控制电子器件实现介电弹性体执行器的无缆驱动提供了实用方案，推动了便携式与可穿戴设备的发展。
原文摘要 · Abstract (English)
In this work, we propose a high-voltage, high-frequency control circuit for the untethered applications of dielectric elastomer actuators (DEAs). The circuit board leverages low-voltage resistive components connected in series to control voltages of up to 1.8 kV within a compact size, suitable for frequencies ranging from 0 to 1 kHz. A single-channel control board weighs only 2.5 g. We tested the performance of the control circuit under different load conditions and power supplies. Based on this control circuit, along with a commercial miniature high-voltage power converter, we construct an untethered crawling robot driven by a cylindrical DEA. The 42-g untethered robots successfully obtained crawling locomotion on a bench and within a pipeline at a driving frequency of 15 Hz, while simultaneously transmitting real-time video data via an onboard camera and antenna. Our work provides a practical way to use low-voltage control electronics to achieve the untethered driving of DEAs, and therefore portable and wearable devices.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。