Hybrid-SoRo: Hybrid Switched Capacitor Power Management Architecture for Multi-Channel Piezoelectric Soft Robot

Hsin Cheng, Zhiwu Zheng, Prakhar Kumar, Yenan Chen, Minjie Chen

Research output: Contribution to conferencePaperpeer-review

4 Scopus citations

Abstract

Soft robots are enabling technologies for many emerging and important applications. The operation voltages of many soft actuators, i.e., Macro Fiber Composites (MFCs) and Dielectric Elastomers (DEs), are usually above 1000 V. Many of these actuators need to work together to perform useful functions. This paper presents Hybrid-SoRo, a hybrid switched capacitor power management architecture for multi-channel piezoelectric soft robot. A 6 V-input dc-dc converter leverages the strengths of a transformer-based circuit in boosting the voltage and a switched capacitor multiplier in creating multiple voltage levels. A modular distribution unit controls the operation of each actuator. The 6 V-1500 V Hybrid-SoRo prototype achieves a power density of 1 W/g when driving a five-actuator inchworm soft robot. The peak efficiency of the 6 V-1500 V converter is 88.28%, and the full-load efficiency is 79.14%.

Original languageEnglish (US)
Pages1338-1344
Number of pages7
DOIs
StatePublished - 2022
Event37th Annual IEEE Applied Power Electronics Conference and Exposition, APEC 2022 - Houston, United States
Duration: Mar 20 2022Mar 24 2022

Conference

Conference37th Annual IEEE Applied Power Electronics Conference and Exposition, APEC 2022
Country/TerritoryUnited States
CityHouston
Period3/20/223/24/22

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering

Keywords

  • DC-DC
  • diode multiplier
  • high voltage
  • piezoelectric actuators
  • soft robots
  • switched-capacitor

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