Single Piezo Actuator Driven Micro Robot for 2-Dimensional Locomotion

  • F. BeckerEmail author
  • V. Minchenya
  • K. Zimmermann
  • I. Zeidis
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 2)


We analyse two micro robots for 2-dimensional locomotion on a flat surface. Forced bending vibrations of continua are used by both systems which are excited by piezoelectric bending actuators. These vibrations are transformed by non classical legs to complex trajectories at the contact points between robot and environment. The locomotion direction of the system can be controlled by the excitation frequencies of the actuation element. Models are developed and investigated to describe important motion effects of the robots. Furthermore some experimental results are presented.


Micro robot Piezoelectric actuator Vibration of continua Elastodynamic locomotion 



The work has been supported by the German Research Foundation (DFG) under grant Zi 540/11-1 as well as by the Free State of Thuringia via graduation scholarship.


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Copyright information

© Springer Science+Business Media B.V. 2012

Authors and Affiliations

  • F. Becker
    • 1
    Email author
  • V. Minchenya
    • 2
  • K. Zimmermann
    • 1
  • I. Zeidis
    • 1
  1. 1.Department of Mechanical EngineeringIlmenau University of TechnologyIlmenauGermany
  2. 2.Department of Instrument-MakingBelarusian National Technical UniversityMinskBelarus

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