5DOF planar – rotary motion piezoelectric robot

Abstract

A novel resonant type five degrees of freedom (5DOF) mobile piezoelectric robot is proposed and analysed. The piezoelectric robot performs unlimited linear working motion in the plane and rotates the positioning table or sphere about three axes independently. The piezorobot can be used for precise positioning or transportation of small objects and make complicated locomotion trajectories. The piezoelectric robot is designed as a compound structure and includes a piezoelectric ring and a special ring-shaped bronze layer. Electrodes of the piezoelectric ring are divided into six equal sections. Excitation of the piezoelectric robot is performed by using a single switched harmonic signal applied to the particular electrode. The operation principle of the piezoelectric robot is based on the excitation of the third radial vibration mode of the piezoelectric ring. The numerical and experimental study was performed, and the operating principle was validated. The maximum linear velocity of 18.8 mm/s and rotational speed of 31.3 rpm were achieved when load of 25.1g and excitation voltage of 200 V p-p were applied.