Development of a miniature piezoelectric robot combining large-load and high-speed

A novel compact tripodal bonded-type miniature piezoelectric robot (TBMPR) combining large-load capacity and high-speed was designed. Each leg was fabricated by a bonded-type piezoelectric cantilever beam which could be excited in the first order bend modal for compact structure and efficient exciting. A design method based on finite element analysis and dynamic modeling of the TBMPR was built with the rule of maxim amplitude output. Modal and harmonic response analyses were carried out to determine the optimal vibration modal and resonant frequency of the TBMPR. Finally, a prototype with a total dimension and weight of 43 × 37 × 27 mm ³ and 2.7 g was fabricated, and the testing experiments were being conducted. The results showed that the linear speed of 3.3 mm/s, the rotational speed of 2.6 °/s and the maximum load of 5.5 times of its own weight were achieved simultaneously. Thus, the major novelty of the proposed tool was that large-load, high-speed and compact structure could be simultaneously achieved within the proposed TBMPR. These merits make the TBMPR has significant potential for detection in confined spaces.