Digital Voltage Distribution for Bipolar Dielectric Actuators
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Solution Overview
Problem
Current power distribution systems for dielectric actuators in robots are limited by the need for large amplifiers and complex structures to deliver bipolar voltage, lacking the necessary power, voltage ramp rate, form factor, and digital controllability for efficient operation, especially in high voltage applications.
Innovation Solution
A digital voltage distribution system utilizing a multi-relay H-bridge assembly with passive conditioning loops and relays to transmit pulsed direct current from a high voltage source to a bipolar electrical load, enabling efficient and controlled voltage delivery to dielectric actuators through a shared ground line and voltage input line.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Power
If large amplifiers and complex structures are used to deliver bipolar voltage to dielectric actuators, then voltage delivery capability is improved, but device complexity and size increase
Solution Approach 1:
The bipolar voltage delivery is achieved by segmenting the single-phase high voltage source into two separate unipolar paths. Each pole of the dielectric actuator receives voltage through its own dedicated circuit path with independent control, eliminating the need for complex bipolar switching while maintaining full voltage delivery capability to both poles simultaneously or independently
Solution Approach 2:
The system uses a single high voltage source that serves multiple functions: it provides voltage to both poles of the dielectric actuator through separate unipolar paths, enables independent control of each pole, and eliminates the need for separate bipolar voltage sources or complex amplifier systems
2Ease of operation
If complex amplifiers are used to provide bipolar voltage, then voltage control is improved, but power delivery efficiency decreases
Solution Approach 1:
The system replaces complex electronic amplifiers and bipolar voltage sources with a direct connection from a single-phase high voltage source. Simple switching elements control the voltage delivery to each pole independently, eliminating the energy losses associated with complex voltage conversion and amplification while maintaining precise control capability
3Volume of moving object
If known power distribution devices are used, then compact high voltage delivery is achieved, but digital controllability and scalability are limited
Solution Approach 1:
The system provides dynamic and scalable control by enabling independent adjustment of voltage parameters for each pole through digital control of the switching elements. The modular unipolar path structure allows easy expansion to multiple actuators or configuration changes while maintaining compact form factor, as each actuator can be controlled independently without requiring complex reconfiguration of the power distribution architecture
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The system achieves efficient and controlled delivery of high power to dielectric actuators, reducing the need for complex structures and amplifiers, allowing for scalable and efficient operation in robotic devices with improved power delivery and reduced space requirements.
Implementation Method 1
By applying a voltage to the electrodes, the resultant electrostatic pressure mechanically deforms the dielectric material in a predetermined direction
Data Source
AI summary
A four-stage digital voltage distribution system is provided with a multi-bridge relay assembly to deliver pulsed direct current to a dielectric actuator. A first stage of operation opens a forward voltage flow from a high voltage source through a passive signal conditioner before activating the actuator and passing through a forward diode to ground. A second stage cuts off the forward voltage flow to the dielectric actuator; thereby, shorting the dielectric actuator and causing a reverse discharge flow through a reverse diode. A third stage opens a reverse voltage flow through the signal conditioner before activating the dielectric actuator and passing through the reverse diode to ground. A fourth stage cuts off the reverse voltage flow to the charged dielectric actuator; thereby, shorting the dielectric actuator and causing a forward discharge flow through the forward diode. The four stages continuously loop to deliver pulsed DC to the actuator.