Liftoff of a 190 mg Laser-Powered Aerial Vehicle: The Lightest Wireless Robot to Fly
2018 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)(2018)
摘要
To date, insect scale aerial robots have required wire tethers for providing power due to the challenges of integrating the required high-voltage power electronics within their severely constrained weight budgets. In this paper we present a significant milestone in the achievement of flight autonomy: the first wireless liftoff of a 190 mg aerial vehicle. Our robot is remotely powered using a 976 nm laser and integrates a complete power electronics package weighing a total of 104 mg, using commercially available components and fabricated using a fast-turnaround laser based circuit fabrication technique. The onboard electronics include a lightweight boost converter capable of producing high voltage bias and drive signals of over 200 V at up to 170 Hz and regulated by a microcontroller performing feedback control. We present our system design and analysis, detailed description of our fabrication method, and results from flight experiments.
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关键词
wire tethers,high-voltage power electronics,severely constrained weight budgets,wireless liftoff,fast-turnaround laser based circuit fabrication technique,onboard electronics,high voltage bias,drive signals,insect scale aerial robots,aerial vehicle,power electronics package,wireless robot,laser-powered aerial vehicle,microcontroller,feedback control,mass 190.0 mg,mass 104.0 mg,wavelength 976.0 nm
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