256 A Small Locomotion Mechanism using a Bimorph Piezoelectric Resonator and an Elastic Body

Abstract

We have developed a small and simple mechanism which consists of an elastic body and a bimrph resonator as an actuator. The locomotion velocity of the mechanism depends on the frequency of driving voltage. Measured frequency characteristics of the locomotion velocity and the thrust of the mechanism show the peak values of 128 rnm/s and 1.3 mN at a driving voltage of 30 V_<p_p> and a driving frequency of 646 Hz. The proposed mechanism has potential for many possible applications in medical and industrial fields.