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A milli size piezo ceramic based locomotive drive has been developed. The principle of locomotion is based on the execution of resonance vibrations in a set of induced strain actuators-transducers which ends with the end effectors. Motion is transferred from the induced strain actuators to the end effectors by increasing the amplitude of the vibrations. Control is performed by switching the different active zones at the piezo active induced strain actuators. A modelling in FEs is performed in order to obtain resonance frequencies, modal shapes and deflections of the end effectors.
Daugela et al. (Tue,) studied this question.