Motion analysis of a microactuator using three piezo elements (2nd report)

Abstract

Displacement of a miniature robot using three stacked–type piezo elements and three electromagnets, is discussed theoretically. The motion is realized by controling the adhesion of the electromagnet and the deformation of the piezo element. Unbalanced deformation of the piezos realizes the revolution around a fixed point and linear displacement in any directions. The formula which describes the motion of the robot is derived in this paper.