![]() The operation of the robot was based on traveling wave, which was generated at a frequency between resonances of two adjacent bending modes. The robot was based on millimeter-sized rectangular glass plate with two piezoelectric patches, which were bonded at the ends of glass plate. reported on piezoelectric bi-directional locomotion robot. Therefore, these advantages forced the investigation of piezoelectric locomotion platforms and their application in different positioning systems. Usually, piezoelectric positioning devices have a simple structure, straightforward operation principle as well as relatively uncomplicated control system. Moreover, piezoelectric devices do not need a gearing mechanism, so backlashes do not occur in the system. In addition, these platforms are magnetic and static field-free, have self-locking ability, and can provide several degrees of freedom using a single actuator. Piezoelectric locomotion platforms can overcome these disadvantages and fulfill requirements of nanoscale resolution, scalable design, and fast response time. In addition, platforms based on electrostatic and electromagnetic actuators have limited resolution of motion as well as operation range. However, these types of platforms have a relatively complicated structure, limited scaling options and are sensitive to the external electric and magnetic fields. The majority of the platforms are driven by electromagnetic and electrostatic actuation principles. Several types of locomotion platforms have been developed up till now that operate based on electromagnetic, electrostatic, and piezoelectric principles. ![]() Such devices are used for laser systems and high-resolution imaging systems, micromachinery, biochemical applications, etc. There is a high demand for planar positioning and locomotion platforms that can provide micro or nanoscale resolution, fast response, and high dynamic characteristics. The maximum linear velocity of 44.45 mm/s was obtained when preload force and voltage of 0.546 N and 210 V p-p were applied, respectively. Prototype of the 2-DOF piezoelectric platform was made, and an experimental study was performed. A numerical investigation of the 2-DOF platform was performed, and it was found out that the operation frequency of the bimorph plates is 23.67 kHz, while harmonic response analysis showed that the maximum displacement amplitude of the contact point reached 563.6 µm in the vertical direction while an excitation signal of 210 V p-p is applied. The direction of the platform motion controlled by switching electric signal between piezoelectric plates. The planar motion of the platform is generated via excitation of the first bending mode of the corresponding plate using a single harmonic signal while the remaining plates operate as passive supports. Alumina spheres are glued at the bottom of each plate and are used as a contacting element. The platform consists of three piezoelectric bimorph plates attached to the equilateral triangle-shaped structure by an angle of 60 degrees. This paper presents numerical and experimental investigations of a small size piezoelectric locomotion platform that provides unlimited planar motion.
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