The robot has 4 terminal points, namely, 2 pairs of positive-negative input and output. Using Arduino, we can control which terminals on the robot to supply power to, and hence, which diaphragm to actuate at any moment.
In this project, we are using an IR remote in conjunction with the Arduino for convenient control of the robot. This enables the user to actuate the diaphragms by clicking on the remote control without connecting and disconnecting the wires and/ or switches.
Figure 2.2.1: Image of electrical setup
Power supply
DEAs require high voltages on the order of kV to produce discernible actuation. To make the electronics set-up portable, the following are the components used:
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Battery pack
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Relay module
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Variable voltage
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Transformer
Figure 2.2.2: Pictorial of electrical setup
Figure 2.2.3: Schematic of electrical circuit
A voltage regulator and other components are employed to ensure that we do not oversupply power to the actuators. Too much power supplied to the actuators can burn the DE films.
From our readings, the robot requires about 3.53 V from the battery pack which would then be amplified by the transformer to around 7.06kv to actuate one diaphragm.
Controlling the system using IR remote and Arduino code
| Button | Action |
|---|---|
| PLAY | Actuate one diaphragm and induce lateral displacement of mass |
| 0 | Deactivate action from pressing "PLAY" |
| 3 | Actuate other diaphragm and induce lateral displacement of mass in direction opposite to that of pressing "PLAY" |
| 4 | Deactivate action from pressing "3" |
The following is the Arduino code to control wireless communication between Arduino and the IR remote:
 | b-robot_arduino_ir_remote_communication.txt | 2 KB |