Abstract
For the application of wireless power transfer (WPT) technology in a robot (like the snake robot), the power is supposed to be transferred to each device across multiple robot joints. This paper proposes a multi-stage bi-directional WPT (MB-WPT) system that not only provides power to multiple loads but also increases the power transfer distance. Besides, the last stage can charge for the preceding stages by reverse power transfer. The constant output voltage can be achieved whether the power is transmitted in a forward or reverse direction, and different output voltages for each stage can be achieved to satisfy the respective voltage requirement through the parameter design method. The validity of the theoretical analysis and the feasibility of the system are verified by experiments.
Highlights
Based on the principle of magnetic induction, wireless power transfer (WPT) technology realizes non-contact transmission of energy from the transmitter to the receiver
The multi-stage bi-directional power transmission can improve the performance of the snake robot
This paper proposes a wireless power transfer system for snake robot application with multiple loads and long power transfer distances
Summary
Based on the principle of magnetic induction, wireless power transfer (WPT) technology realizes non-contact transmission of energy from the transmitter to the receiver. The multi-stage bi-directional power transmission can improve the performance of the snake robot. A multiple-transmitter WPT system proposed in [18] can improve power transfer efficiency, whether it is angular aligned or angular misaligned, of the coils over all regions. The repeater coil added to the above systems only increases transmission distance and improves output power and efficiency, but does not transmit energy to multiple loads. The above papers mainly study the bi-directional power transmission between the power grid and the electric vehicle These methods could not be utilized in the snake robot system because the demand of multiple-load output along the power transmission chain is not taken into account. This paper proposes a wireless power transfer system for snake robot application with multiple loads and long power transfer distances. The experimental results have validated the effectiveness of the proposed WPT system
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