A resonant quadruped piezoelectric robot inspired by human butterfly swimming patterns.

Piezoelectric micro-robots have gained considerable attention in rescue and medical applications due to their rapid response times and high positioning accuracy. In this paper, inspired by the human butterfly locomotion pattern, we propose a novel resonant four-legged piezoelectric micro-robot designed to achieve fast and efficient movement in complex and confined spaces. The robot utilizes the parallel piezoelectric bimorph as the driving unit, and its leg structure mimics the butterfly motion.

A miniature longitudinal-bending hybrid linear ultrasonic motor inspired by the planar hinged five bar mechanism.

Inspired by the double crank planar hinged five bar mechanism, a longitudinal-bending hybrid linear ultrasonic motor with compact miniature is proposed and tested. In order to realize miniaturization, it adopts a bonded-type structure. Four lead zirconate titanate (PZT) piezoelectric ceramics are distributed equally into two groups and bonded to the two ends of the metal frame, and then, two voltages with a phase difference of 90° are applied to each of the two groups of PZT ceramics.

A novel hybrid mode linear ultrasonic motor with double driving feet.

A novel standing wave linear ultrasonic motor with double driving feet based on longitudinal-bending coupling mode is designed in this study. The motor adopts the bonded-type structure, and four pieces of piezoelectric ceramics on a metal beam are divided into two groups. Two voltages with 90° phase difference are applied to two groups of Pb-based lanthanumdoped zirconate titanates ceramics, respectively.

Optimization analysis of piezoelectric actuator based on energy transfer.

Based on energy transfer theory, the power flow method is used to optimize the piezoelectric actuator to improve its output performance. First, the mode analysis of the piezoelectric actuator is performed, and the actuator is discretized according to the mode nodes of the operational mode. On the basis of the Norton's equivalent circuit, the equivalent mechanical network of the actuator is established, and the expression of power flow is imported to the mass block of driving foot.

A novel high thrust-weight ratio linear ultrasonic motor driven by single-phase signal.

This paper presents an ultrasonic motor with a high thrust-weight ratio. The miniaturized motor is 13 mm × 5 mm × 3.8 mm in size and uses the first-order bending vibration mode (B1 mode) and second-order bending vibration mode (B2 mode) to realize bidirectional movement through a single-phase driving signal.

An Equivalent Circuit of Longitudinal Vibration for a Piezoelectric Structure with Losses.

Equivalent circuits of piezoelectric structures such as bimorphs and unimorphs conventionally focus on the bending vibration modes. However, the longitudinal vibration modes are rarely considered even though they also play a remarkable role in piezoelectric devices. Losses, especially elastic loss in the metal substrate, are also generally neglected, which leads to discrepancies compared with experiments.