A double-beam piezoelectric robot based on the principle of two-mode excitation

In this paper, a brand-new double-beam piezoelectric robot (DBPR) is developed. The configuration is designed as a combination of piezoelectric drive units and joint beams. The DBPR works by generating traveling waves on the piezoelectric drive units and relies on the reciprocal elliptical oscillations of the driving legs. By controlling the excitation signals of the piezoelectric drive units, our robot can realize in-plane linear and turning motions. Thus, the robot demonstrates superior flexibility owing to its configuration design and operating mode. The dynamic properties of piezoelectric drive units are examined using the numerical solution method, and subsequently to forecast the motion of the robot. Then, a prototype with a size of 200 x 100 x 68 mm3 and a weight of 86.5 g is manufactured and tested. Experimental results indicate that DBPR can run at speeds of up to 164.90 mm/s, steer with a radius of zero to infinity, and carry a load of 120 g (1.38 times its weight) effortlessly. Moreover, the working mechanism of DBPR is described, and the effects of excitation parameters on the motion speed and turning performance are discussed. Finally, the multimode application experiment is implemented to demonstrate that the proposed robot can utilize different motion modes to achieve the predetermined trajectory for multitasking.