Small size 2-DOF piezoelectric platform for unlimited locomotion

Abstract

The paper represents a numerical and experimental investigation of a 2-DOF piezoelectric positioning platform that can provide unlimited locomotion in the plane. The platform's operation principle is based on the excitation of the first bending mode of piezoelectric bimorph plates. A numerical investigation of the 2-DOF platform was performed, and it was found out that the suitable vibration mode of the bimorph plates occurs at 23.54 kHz Harmonic response analysis showed that the maximum displacement amplitude of the contact reached 561.12 μm or 2.67 μm/Vp-p while an excitation signal of 210 Vp-p was applied. The experimental study was performed and showed that maximum linear velocity of 44.45 mm/s or 0.212 mm/s/Vp-p were obtained while the load of 55.68g and applied and electrical signal of 210 Vp-p was used. In addition, at the same conditions output force of the platform was measured, and it was found that the platform is able to provide 44.16 mN of output force.