3D-Printed Miniature Robots with Piezoelectric Actuation for Locomotion and Steering Maneuverability Applications

The miniaturization of robots with locomotion abilities is a challenge significant technological impact in many applications where large-scale have physical or cost restrictions. Access to hostile environments, improving microfabrication processes, advanced instrumentation are examples their potential use. Here, we propose miniature 20 mm long sub-gram robot piezoelectric actuation whose direction motion can be controlled. A differential drive approach was implemented an H-shaped 3D-printed motor platform featuring two plate resonators linked at center, built-in legs. driven by the generation standing waves on each means patches excited burst signals. control trajectory robot, either translation rotation, attained adjusting parameters signals such as applied voltage, number cycles, driving frequency. demonstrated bidirectional straight paths 65 2 mm/s speed voltage amplitude only 10 V, and forward backward precise steps low 1 µm. spinning could controlled turns 0.013 deg. angular speeds high 3 deg./s under same conditions. proposed device able describe complex trajectories more than 160 mm, while carrying 70 times its own weight.