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Paper FrB9.3

Karpelson, Michael (Harvard University), Wei, Gu-Yeon (Harvard University), Wood, Robert (Harvard University)

Milligram-Scale High-Voltage Power Electronics for Piezoelectric Microrobots

Scheduled for presentation during the Regular Sessions "Micro/Nano Robotics - II" (FrB9), Friday, May 15, 2009, 11:10−11:30, Room: 501

2009 IEEE International Conference on Robotics and Automation, May 12 - 17, 2009, Kobe, Japan

This information is tentative and subject to change. Compiled on January 24, 2022

Keywords Micro/Nano Robots, Smart Actuators, Biologically-Inspired Robots

Abstract

Piezoelectric actuators can achieve high efficiency and power density in very small geometries, which shows promise for microrobotic applications, such as flapping-wing robotic insects. From the perspective of power electronics, such actuators present two challenges: high operating voltages, ranging from tens to thousands of volts, and a low electromechanical coupling factor, which necessitates the recovery of unused electrical energy. This paper explores the power electronics design problem by establishing the drive requirements of piezoelectric actuators, presenting circuit topologies and control methods suitable for driving different types of piezoelectric actuators in microrobotic applications, and demonstrating experimental realizations of sub-100mg power electronics circuits.

 

 

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