便携式、高频、高压控制电路，用于介电弹性体致动器驱动的无系绳微型机器人
Portable, High-Frequency, and High-Voltage Control Circuits for Untethered Miniature Robots Driven by Dielectric Elastomer Actuators
AI总结：
提出一种基于低压串联电阻的高压高频控制电路，实现介电弹性体致动器无系绳驱动，并构建42克爬行机器人，在15赫兹下成功运动并实时传输视频。
摘要：
在这项工作中，我们提出了一种用于介电弹性体致动器（DEAs）无系绳应用的高压、高频控制电路。该电路板利用串联的低压电阻元件，在紧凑的尺寸内控制高达1.8 kV的电压，适用于0至1 kHz的频率范围。单通道控制板仅重2.5克。我们在不同负载条件和电源下测试了控制电路的性能。基于该控制电路，结合商用微型高压电源转换器，我们构建了一个由圆柱形DEA驱动的无系绳爬行机器人。这个重42克的无系绳机器人在15 Hz的驱动频率下，成功地在长凳上和管道内获得了爬行运动，同时通过机载摄像头和天线实时传输视频数据。我们的工作提供了一种实用的方法，利用低压控制电子器件实现DEA的无系绳驱动，从而促进便携式和可穿戴设备的发展。
英文摘要：
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.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
