Abstract
We measure the motion of a miniature robot and the trajectories of three legs. The robot consists of three stacked–type piezoelectric actuators connecting in an equilateral triangle. The three legs, which support the main body of the robot, are fixed at every vertex of the triangle. The deformation of the piezoelectric actuators thrusts the legs of the robot. By repeating the deformations of the piezoelectric actuators, the robot realizes the linear and rotational displacement in a plane surface. The motion of the miniature robot is measured by changing the input waveforms and frequencies. The input waveforms applied to the piezos are rectangle and sinusoidal waveforms. The direction of the rotational displacement is described. The motion of the legs is measured. We discuss the motion of the miniature robot and the trajectories of the legs under the conditions that the miniature robot can rotate or not.
