A bioinspired piezoelectric stick-slip actuator designed by the moving posture of monkey

A novel structure of a piezoelectric stick-slip actuator is proposed, which is based on the moving posture of a monkey. The biomimetic monkey type of piezoelectric stick-slip actuator (BMPSSA) is designed to simulate the limbs and tail of a moving monkey. By using the pseudo-rigid body method, the deformation model of the compliant mechanism is established. Next, the displacement of flexible hinges is calculated by matrix-based compliance modeling. Then, the modal analysis is computed by the finite element method, respectively. Finally, an experimental system is constructed to test the output performance of the BMPSSA. At the excited frequency of 274 Hz, the experimental results show that the maximum output velocity of BMPSSA reached 21.88 mm/s, the maximum step displacement is 79 μm, and the minimum displacement resolution of BMPSSA is 60.04 nm.