CN112910304B - Small-sized multi-body voltage-saving robot and excitation method thereof - Google Patents
Small-sized multi-body voltage-saving robot and excitation method thereof Download PDFInfo
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Abstract
The invention provides a small-sized multi-body voltage-saving robot and an excitation method thereof, wherein the excitation method comprises the following steps: the small-sized multi-section piezoelectric robot structurally comprises three groups of completely same herringbone piezoelectric sections and a base body, wherein the three groups of herringbone piezoelectric sections are connected on the base body in parallel; the herringbone piezoelectric body section structure comprises a pair of driving feet, when a voltage excitation signal is applied to the pair of driving feet, the double feet are reversely bent, the herringbone piezoelectric body section realizes opening and closing movement, and the herringbone piezoelectric body section is driven to realize stepping movement by using the resultant force of friction force generated by the relative movement of the double feet and a working surface as driving force; 3 groups of voltage excitation signals of the herringbone piezoelectric body sections are designed, the motion time sequence of the piezoelectric body sections is controlled, and the robot is excited to realize plane motion; the small multi-body section piezoelectric robot has the advantages of small volume, light weight, simple structure, high displacement resolution and the like, and has wide application prospect in the fields of ultra-precise driving, positioning, precise transportation, detection and the like.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a small-sized multi-body voltage-saving robot and an excitation method thereof.
Background
In recent years, small robots have become an important research direction due to their advantages such as small size and light weight. They can be moved and worked in a narrow space that cannot be reached by a large-sized robot or a human being, and can also be deployed and applied in a work environment requiring lightweight, which makes them candidates for works such as manipulation, search, and monitoring.
The traditional small-sized robot mostly adopts an electromagnetic driving mode, a transmission system is required to realize speed conversion, the structure is relatively complex, further miniaturization and light weight of the traditional small-sized robot are limited, in addition, the output displacement resolution of the electromagnetic driving type robot can only reach the micron level and is difficult to realize multi-degree-of-freedom motion output, and the application range of the traditional small-sized electromagnetic driving type robot is limited. Compared with the prior art, the piezoelectric material has the advantages of fast response, high resolution, high power density, power-off self-locking, no electromagnetic interference and the like, and the piezoelectric actuation type robot is easy to realize the characteristics of miniaturization, light weight, high displacement resolution and the like.
The small multi-body-section piezoelectric robot provided by the invention adopts a structural form that a plurality of piezoelectric body sections are connected in parallel, and realizes plane motion output through the mutual coordination and coordination of the plurality of piezoelectric body sections; firstly, the small multi-body-section piezoelectric robot inherits the advantages of a parallel device and has the outstanding advantages of high rigidity and high displacement resolution; secondly, the used piezoelectric body section has simple structure, small volume, light weight, low cost and easy processing and assembly; finally, an excitation method of the small-sized multi-body-node piezoelectric robot is provided, the small-sized multi-body-node piezoelectric robot is excited by a periodic excitation signal, and continuous stepping motion of the small-sized multi-body-node piezoelectric robot is driven by using friction force to realize plane motion output. In summary, the small-sized multi-segment piezoelectric robot of the invention has the advantages of small volume, light weight and the like of a general small-sized robot, overcomes the defects of poor displacement resolution and poor motion flexibility, and greatly expands the application range by the characteristics, so that the small-sized multi-segment piezoelectric robot has wide application prospects in the fields of ultra-precise driving, positioning, precise transportation, detection and the like.
Disclosure of Invention
The invention provides a small-sized multi-body voltage-saving robot and an excitation method thereof, aiming at solving the problems of complex structure, poor motion flexibility, low output displacement resolution ratio and the like of the traditional small-sized robot.
The invention is realized by the following scheme:
a small-sized multi-body piezoelectric robot comprises 3 groups of herringbone piezoelectric body sections 1 and a base body 2; the 3 groups of herringbone piezoelectric body sections have the same structure, each group of herringbone piezoelectric body sections comprises two driving feet 1-1-1, 1-1-2, 1-2-1, 1-2-2, 1-3-1 and 1-3-2, and the two driving feet of each group of herringbone piezoelectric body section structure are fixedly connected according to a certain included angle; the top ends of the 3 groups of herringbone piezoelectric body sections 1 are fixedly connected with the plane connected with the base body 2 at 120 degrees; when the same voltage excitation signal is applied to the driving feet 1-1-1, 1-1-2, 1-2-1, 1-2-2, 1-3-1 and 1-3-2, the bending directions are opposite, and the herringbone piezoelectric body sections 1-1, 1-2 and 1-3 are driven to realize the opening or closing action.
Furthermore, the included angle between the two driving feet 1-1-1, 1-1-2, 1-2-1, 1-2-2, 1-3-1 and 1-3-2 of each group of herringbone piezoelectric body sections 1 is any angle which is larger than 0 degree and smaller than 180 degrees.
Furthermore, when the driving feet 1-1-1, 1-1-2, 1-2-1, 1-2-2, 1-3-1 and 1-3-2 of the 3 groups of herringbone piezoelectric body sections 1 of the small multi-body section piezoelectric robot apply excitation signals, the driving feet bend along the opening and closing direction; the resultant force of the friction force generated by the relative motion between the driving foot and the working surface of each group of herringbone piezoelectric body sections 1 is not 0.
Further, the number of the 3 groups of the herringbone piezoelectric body sections 1 of the small-sized multi-body section piezoelectric robot can be 1 or 2, when the number is 1, the single-degree-of-freedom linear motion is realized based on the inertia actuating principle, when the number is 2, the pair of herringbone piezoelectric body sections are orthogonally arranged, and the planar two-degree-of-freedom linear motion is realized based on the inertia actuating principle.
An excitation method applied to a small-sized multi-body section piezoelectric robot can excite a driving foot 1-1-1, 1-1-2, 1-2-1, 1-2-2, 1-3-1 and 1-3-2 of the small-sized multi-body section piezoelectric robot to bend along the opening and closing direction, drive the single human-shaped piezoelectric body sections 1-1, 1-2 and 1-3 to realize linear motion along the opening and closing direction, and drive the robot to realize plane motion through the coordination and coordination of 3 groups of piezoelectric body sections 1;
in the plane motion, the excitation method for realizing the positive motion output along the Y axis is as follows:
step one, applying an excitation voltage signal with an increased amplitude to the herringbone piezoelectric body joint 1-3, and bending the two driving feet 1-3-1 and 1-3-2 outwards along the opening and closing direction to realize the opening action and leave the working surface;
step two, the other two herringbone piezoelectric body sections 1-1 and 1-2 simultaneously apply excitation voltage signals with slowly rising amplitude values, and meanwhile, the stretching action is realized, and the piezoelectric body sections are kept static due to inertia;
step three, applying an excitation voltage signal with a reduced amplitude to the herringbone piezoelectric body sections 1-3, and bending the two driving feet 1-3-1 and 1-3-2 inwards along the thickness direction to realize that the folding action drives the small multi-body section piezoelectric robot to rotate a tiny angle around the X axis and incline to the positive direction of the Y axis;
step four, the other two herringbone piezoelectric body sections 1-1 and 1-2 simultaneously apply an excitation voltage signal with the amplitude rapidly reduced, and meanwhile, the rapid folding action is achieved, the friction force between the two driving feet 1-1-1, 1-1-2, 1-2-1 and 1-2-2 of the herringbone piezoelectric body sections 1-1 and 1-2 and the working surface is different, the resultant force of the two driving feet 1-1, 1-1-2, 1-2-2 has a component along the positive direction of the Y axis, the herringbone piezoelectric body sections 1-1 and 1-2 can be driven to respectively move one step, and the herringbone piezoelectric body sections 1-1 and 1-2 jointly drive the small multi-body-section piezoelectric robot to move one step along the positive direction of the Y axis;
step five, repeating the step one to the step four, and driving the small multi-body-joint piezoelectric robot to realize forward continuous stepping motion along the Y axis;
in the planar motion, the excitation method for realizing the clockwise rotation motion output around the Z axis is as follows:
step six, 3 groups of the herringbone piezoelectric body sections 1 simultaneously apply quickly rising excitation voltage signals, the herringbone piezoelectric body sections simultaneously complete quick opening action, all driving feet realize sliding movement on a working surface, and the driving feet keep static due to inertia;
step seven, 3 groups of the herringbone piezoelectric body joints 1 apply slowly-reduced excitation voltage signals at the same time, the slowly-folding actions are completed at the same time, all the driving feet 1-1-1, 1-1-2, 1-2-1, 1-2-2, 1-3-1 and 1-3-2 and the working surface generate 'viscous' movement, because the friction forces of two driving feet 1-1-1, 1-1-2, 1-2-1, 1-2-2, 1-3-1 and 1-3-2 of the same piezoelectric body section 1-1, 1-2 and 1-3 are different from the friction force of a working surface, the resultant force of the friction forces is utilized to drive 3 groups of herringbone piezoelectric body sections 1 to simultaneously move one step along the tangential direction of the clockwise circumference;
step eight, repeating the step six to the step seven, and driving the small multi-body piezoelectric robot to realize clockwise continuous rotation stepping motion around the Z axis.
Further, according to the excitation method of the small-sized multi-body voltage-saving robot, the waveform of an excitation voltage signal required by the method is an asymmetric wave, and the asymmetric wave is an asymmetric triangular wave or an asymmetric trapezoidal wave.
Furthermore, the excitation method of the small-sized multi-body piezoelectric robot can change the friction force between the driving feet 1-1-1, 1-1-2, 1-2-1, 1-2-2, 1-3-1 and 1-3-2 of the 3 groups of herringbone piezoelectric body sections 1 and the working surface by an excitation signal active control method, adjust the magnitude and direction of the driving force and realize reverse driving.
The invention has the beneficial effects
1. The invention provides a small-sized multi-body-node piezoelectric robot which has the characteristics of simple structure, small volume and light weight, and high displacement resolution and large structural rigidity are obtained through a configuration of connecting a plurality of piezoelectric body nodes in parallel.
2. The excitation method of the small multi-body section piezoelectric robot provided by the invention can excite the multi-piezoelectric body sections to coordinately move, and drives the small multi-body section piezoelectric robot to realize plane linear and rotary motion output, so that the flexible motion output capability is obtained, the application range of the small robot is greatly expanded, and the small robot has wide application prospects in the fields of ultra-precision driving, positioning, precision carrying, detection and the like.
Drawings
FIG. 1 is a three-dimensional schematic view of a small multi-segment piezoelectric robot of the present invention;
FIG. 2 is a schematic diagram of a single-body-node linear motion and corresponding excitation scheme of the small multi-body-node piezoelectric robot, wherein Umax is the maximum value of the positive voltage amplitude, T is the period of the excitation method, and T isaFor the initial moment, t, of the single joint linear motion excitation schemebAt the moment when the voltage amplitude of the single knot linear motion excitation scheme rises to the maximum value, tcReducing the voltage amplitude of the single joint linear motion excitation scheme to a minimum value;
FIG. 3 is a schematic view of the principle of linear motion of the small multi-segment piezoelectric robot of the present invention;
FIG. 4 is a schematic diagram of the linear motion excitation scheme of the small multi-segment piezoelectric robot of the present invention, where Umax is the maximum of the forward voltage amplitude, T is the period of the excitation method, and T isa、tb、tc、tdAnd teStarting and ending time of 4 sub-steps in one period of the excitation scheme;
FIG. 5 is a schematic diagram of the principle of the rotary motion of the small multi-segment piezoelectric robot of the present invention;
FIG. 6 is a schematic diagram of a small single-segment piezoelectric robot and its excitation scheme;
fig. 7 is a schematic diagram of a small-sized double-body section piezoelectric robot and an excitation scheme thereof, wherein X, Y axes in the diagram represent two mutually perpendicular directions in a working plane of the small-sized multi-body section piezoelectric robot, and a direction indicated by a Z axis is a direction perpendicular to the working plane of the small-sized multi-body section piezoelectric robot.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments; all other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The first embodiment is as follows:
a small-sized multi-body piezoelectric robot comprises 3 groups of herringbone piezoelectric body sections 1 and a base body 2; the 3 groups of herringbone piezoelectric body sections have the same structure, each group of herringbone piezoelectric body sections comprises two driving feet 1-1-1, 1-1-2, 1-2-1, 1-2-2, 1-3-1 and 1-3-2, and the two driving feet of each group of herringbone piezoelectric body section structure are fixedly connected according to a certain included angle; the top ends of the 3 groups of herringbone piezoelectric body sections 1 are fixedly connected with the plane connected with the base body 2 at 120 degrees; when the same voltage excitation signal is applied to the driving feet 1-1-1, 1-1-2, 1-2-1, 1-2-2, 1-3-1 and 1-3-2, the bending directions are opposite, and the herringbone piezoelectric body sections 1-1, 1-2 and 1-3 are driven to realize the opening or closing action.
The included angle between the two driving feet 1-1-1, 1-1-2, 1-2-1, 1-2-2, 1-3-1 and 1-3-2 of each group of herringbone piezoelectric body sections 1 is any angle which is larger than 0 degree and smaller than 180 degrees.
The driving feet 1-1-1, 1-1-2, 1-2-1, 1-2-2, 1-3-1 and 1-3-2 of the 3 groups of herringbone piezoelectric body sections 1 of the small multi-body section piezoelectric robot bend along the opening and closing direction when excitation signals are applied; two driving feet 1-1-1 and 1-1-2, or 1-2-1 and 1-2-2, or 1-3-1 and 1-3-2 of the 3 groups of herringbone piezoelectric body sections 1 are different from the working surface in contact state, the friction coefficients have certain difference, and the resultant force of the friction force generated by the relative motion between the driving feet and the working surface is not 0.
The number of the 3 groups of the herringbone piezoelectric body sections 1 of the small-sized multi-body section piezoelectric robot can be 1 or 2, when the number is 1, single-degree-of-freedom linear motion is realized based on an inertia actuating principle, when the number is 2, a pair of herringbone piezoelectric body sections are orthogonally arranged, and planar two-degree-of-freedom linear motion is realized based on the inertia actuating principle.
An excitation method applied to a small-sized multi-body section piezoelectric robot can excite a driving foot 1-1-1, 1-1-2, 1-2-1, 1-2-2, 1-3-1 and 1-3-2 of the small-sized multi-body section piezoelectric robot to bend along the opening and closing direction, drive the single human-shaped piezoelectric body sections 1-1, 1-2 and 1-3 to realize linear motion along the opening and closing direction, and drive the robot to realize plane motion through the coordination and coordination of 3 groups of piezoelectric body sections 1;
in the plane motion, the excitation method for realizing the positive motion output along the Y axis is as follows:
step one, applying an excitation voltage signal with an increased amplitude to the herringbone piezoelectric body joint 1-3, and bending the two driving feet 1-3-1 and 1-3-2 outwards along the opening and closing direction to realize the opening action and leave the working surface;
step two, the other two herringbone piezoelectric body sections 1-1 and 1-2 simultaneously apply excitation voltage signals with slowly rising amplitude values, and meanwhile, the stretching action is realized, and the piezoelectric body sections are kept static due to inertia;
step three, applying an excitation voltage signal with a reduced amplitude to the herringbone piezoelectric body sections 1-3, and bending the two driving feet 1-3-1 and 1-3-2 inwards along the thickness direction to realize that the folding action drives the small multi-body section piezoelectric robot to rotate a tiny angle around the X axis and incline to the positive direction of the Y axis;
step four, the other two herringbone piezoelectric body sections 1-1 and 1-2 simultaneously apply an excitation voltage signal with the amplitude rapidly reduced, and meanwhile, the rapid folding action is achieved, the friction force between the two driving feet 1-1-1, 1-1-2, 1-2-1 and 1-2-2 of the herringbone piezoelectric body sections 1-1 and 1-2 and the working surface is different, the resultant force of the two driving feet 1-1, 1-1-2, 1-2-2 has a component along the positive direction of the Y axis, the herringbone piezoelectric body sections 1-1 and 1-2 can be driven to respectively move one step, and the herringbone piezoelectric body sections 1-1 and 1-2 jointly drive the small multi-body-section piezoelectric robot to move one step along the positive direction of the Y axis;
step five, repeating the step one to the step four, and driving the small multi-body-joint piezoelectric robot to realize forward continuous stepping motion along the Y axis;
in the planar motion, the excitation method for realizing the clockwise rotation motion output around the Z axis is as follows:
step six, 3 groups of the herringbone piezoelectric body sections 1 simultaneously apply quickly rising excitation voltage signals, the herringbone piezoelectric body sections simultaneously complete quick opening action, all driving feet realize sliding movement on a working surface, and the driving feet keep static due to inertia;
step seven, 3 groups of the herringbone piezoelectric body joints 1 apply slowly-reduced excitation voltage signals at the same time, the slowly-folding actions are completed at the same time, all the driving feet 1-1-1, 1-1-2, 1-2-1, 1-2-2, 1-3-1 and 1-3-2 and the working surface generate 'viscous' movement, because the friction forces of two driving feet 1-1-1, 1-1-2, 1-2-1, 1-2-2, 1-3-1 and 1-3-2 of the same piezoelectric body section 1-1, 1-2 and 1-3 are different from the friction force of a working surface, the resultant force of the friction forces is utilized to drive 3 groups of herringbone piezoelectric body sections 1 to simultaneously move one step along the tangential direction of the clockwise circumference;
step eight, repeating the step six to the step seven, and driving the small multi-body piezoelectric robot to realize clockwise continuous rotation stepping motion around the Z axis.
According to the excitation method of the small-sized multi-body voltage-saving robot, the waveform of an excitation voltage signal required by the method is an asymmetric wave, and the asymmetric wave is an asymmetric triangular wave or an asymmetric trapezoidal wave.
The excitation method of the small-sized multi-body piezoelectric robot can change the friction force between the driving feet 1-1-1, 1-1-2, 1-2-1, 1-2-2, 1-3-1 and 1-3-2 of 3 groups of herringbone piezoelectric body sections 1 and a working surface by an excitation signal active control method, adjust the magnitude and direction of the driving force and realize reverse driving.
The second embodiment is as follows:
referring to fig. 6, the present embodiment is described, and the difference between the present embodiment and the small-sized multi-segment piezoelectric robot according to the first embodiment is that the robot is composed of 1 "herringbone" piezoelectric segments 1, the robot can be excited to realize a single-degree-of-freedom linear motion output by applying a periodic sawtooth wave excitation signal, and the specific steps of driving the robot to move in the Y-axis forward direction are as follows:
firstly, two driving feet 1-1 and 1-2 of a herringbone piezoelectric body section 1 simultaneously apply a rapidly rising excitation voltage signal, the driving feet simultaneously complete a rapid opening action, the two driving feet 1-1 and 1-2 realize a sliding motion on a working surface, and the driving feet keep static due to inertia;
step two, two driving feet 1-1 and 1-2 of the herringbone piezoelectric body section 1 simultaneously apply slowly-falling excitation voltage signals, the driving feet complete slow folding actions at the same time, the two driving feet 1-1 and 1-2 and a working surface generate viscous motions, and due to different friction forces between the two driving feet 1-1 and 1-2 and the working surface, the resultant force of the friction forces is used for driving the robot to move forward along the Y axis for one step;
and step three, repeating the step one to the step two, and driving the robot to realize forward continuous stepping motion along the Y axis.
The third concrete implementation mode:
referring to fig. 7, the present embodiment is described, and the difference between the present embodiment and the small-sized multi-segment piezoelectric robot according to the first embodiment is that the robot is composed of 2 orthogonally arranged "herringbone" piezoelectric segments 1-1 and 1-2, the robot can be excited to realize linear motion output with planar degree of freedom by applying a periodic sawtooth wave excitation signal, and the specific steps of driving the robot to move in the Y-axis forward direction are as follows:
step one, two driving feet 1-2-1 and 1-2-2 of the herringbone piezoelectric body section 1-2 apply rising excitation voltage signals simultaneously, and the two driving feet complete opening actions simultaneously and leave a working surface;
step two, two driving feet 1-1-1 and 1-1-2 of the herringbone piezoelectric body section 1-1 simultaneously apply a rapidly rising excitation voltage signal, the two driving feet simultaneously complete a rapid opening action, the two driving feet 1-1-1 and 1-1-2 realize a sliding motion on a working surface, and the driving feet keep static due to inertia;
step three, two driving feet 1-1-1 and 1-1-2 of the herringbone piezoelectric body section 1-1 simultaneously apply slowly-falling excitation voltage signals, the driving feet complete slow folding actions at the same time, the two driving feet 1-1 and 1-1-2 and the working surface generate viscous motion, and due to different friction forces between the two driving feet 1-1 and 1-1-2 and the working surface, the resultant force of the friction forces is utilized to drive the robot to move one step along the Y axis in the forward direction;
and step four, repeating the step two to the step two, and driving the robot to realize forward continuous stepping motion along the Y axis.
The specific steps of driving the robot to move along the X axis in the positive direction are as follows:
step one, simultaneously applying rising excitation voltage signals to two driving feet 1-1-1 and 1-1-2 of the herringbone piezoelectric body section 1-1, and simultaneously completing the opening action to leave a working surface;
step two, two driving feet 1-2-1 and 1-2-2 of the herringbone piezoelectric body section 1-2 simultaneously apply a rapidly rising excitation voltage signal, the two driving feet simultaneously complete a rapid opening action, the two driving feet 1-2-1 and 1-2-2 realize a sliding motion on a working surface, and the driving feet keep static due to inertia;
step three, applying slowly-falling excitation voltage signals to the two driving feet 1-2-1 and 1-2-2 of the herringbone piezoelectric body section 1-2 at the same time, completing slow folding actions at the same time, enabling the two driving feet 1-2-1 and 1-2-2 to generate viscous motion with a working surface, and driving the robot to move forward one step along the X axis by utilizing the resultant force of the friction force due to different friction forces between the two driving feet 1-2-1 and 1-2-2 and the working surface;
and step four, repeating the step two to the step two, and driving the robot to realize forward continuous stepping motion along the X axis.
The small-sized multi-body section-saving piezoelectric robot and the excitation method thereof proposed by the invention are introduced in detail, the principle and the implementation mode of the invention are explained, and the description of the embodiment is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (6)
1. The utility model provides a small-size many bodies festival piezoelectric robot which characterized in that: the robot comprises 3 groups of herringbone piezoelectric body sections (1) and a base body (2); the 3 groups of herringbone piezoelectric body sections (1-1, 1-2 and 1-3) have the same structure, each group of herringbone piezoelectric body section structure comprises two driving feet (1-1-1, 1-1-2, 1-2-1, 1-2-2, 1-3-1 and 1-3-2), and the two driving feet of each group of herringbone piezoelectric body section structure are fixedly connected according to a certain included angle; the top ends of the 3 groups of herringbone piezoelectric body sections (1) are fixedly connected with the plane connected with the base body (2) at 120 degrees; when two driving feet (1-1-1, 1-1-2, 1-2-1, 1-2-2, 1-3-1 and 1-3-2) of each group of herringbone piezoelectric body sections apply the same voltage excitation signals, the bending directions are opposite, and the herringbone piezoelectric body sections (1-1, 1-2 and 1-3) are driven to realize the actions of opening and closing.
2. The small multi-segment piezoelectric robot according to claim 1, wherein: the included angle between the two driving feet (1-1-1, 1-1-2, 1-2-1, 1-2-2, 1-3-1 and 1-3-2) of each group of herringbone piezoelectric body sections (1) is any angle which is larger than 0 degree and smaller than 180 degrees.
3. The small multi-segment piezoelectric robot according to claim 1, wherein: when the driving feet (1-1-1, 1-1-2, 1-2-1, 1-2-2, 1-3-1 and 1-3-2) of 3 groups of herringbone piezoelectric body sections (1) of the small multi-body section piezoelectric robot apply excitation signals, the driving feet bend along the opening and closing direction; the resultant force of the friction force generated by the relative motion between the driving foot and the working surface of each group of herringbone piezoelectric body sections (1) is not 0.
4. An excitation method applied to the small-sized multi-body section piezoelectric robot as claimed in any one of claims 1 to 3, characterized in that: the excitation method can excite the driving feet (1-1-1, 1-1-2, 1-2-1, 1-2-2, 1-3-1 and 1-3-2) of the small multi-section piezoelectric robot to bend along the opening and closing direction, drive the single herringbone piezoelectric sections (1-1, 1-2 and 1-3) to realize linear motion along the opening and closing direction, and drive the robot to realize plane motion through the coordination and the coordination of 3 groups of piezoelectric sections (1);
in the plane motion, the excitation method for realizing the positive motion output along the Y axis is as follows:
step one, applying an excitation voltage signal with an increased amplitude to the herringbone piezoelectric body joint (1-3), and bending two driving feet (1-3-1 and 1-3-2) outwards along the opening and closing direction to realize the opening action and leave the working surface;
step two, applying slowly rising excitation voltage signals to the other two herringbone piezoelectric body sections (1-1, 1-2) at the same time, and realizing the opening action at the same time, wherein the piezoelectric body sections are kept static due to inertia;
step three, applying an excitation voltage signal with a reduced amplitude to the herringbone piezoelectric body section (1-3), and bending the two driving feet (1-3-1 and 1-3-2) inwards along the thickness direction to realize that the folding action drives the small multi-body section piezoelectric robot to rotate a tiny angle around the X axis and incline to the positive direction of the Y axis;
step four, the other two herringbone piezoelectric body sections (1-1, 1-2) simultaneously apply excitation voltage signals with rapidly reduced amplitude, meanwhile, the rapid folding action is realized, the friction force of two driving feet (1-1-1, 1-1-2, 1-2-1 and 1-2-2) of the herringbone piezoelectric body sections (1-1 and 1-2) is different from that of the working surface, the resultant force of the two driving feet has a component along the positive direction of the Y axis, the herringbone piezoelectric body section (1-1) and the herringbone piezoelectric body section (1-2) can be driven to move one step respectively, the small multi-section piezoelectric robot is driven to move one step along the Y axis in the positive direction by the herringbone piezoelectric body sections (1-1) and the herringbone piezoelectric body sections (1-2);
step five, repeating the step one to the step four, and driving the small multi-body-joint piezoelectric robot to realize forward continuous stepping motion along the Y axis;
in the planar motion, the excitation method for realizing the clockwise rotation motion output around the Z axis is as follows:
step six, 3 groups of the herringbone piezoelectric body sections (1) apply rapidly rising excitation voltage signals at the same time, the sections complete rapid opening actions at the same time, all driving feet realize sliding motion on a working surface, and the sections keep static due to inertia;
step seven, 3 groups of herringbone piezoelectric body sections (1) apply slowly-reduced excitation voltage signals simultaneously, the sections complete the slow folding action simultaneously, all the driving feet (1-1-1, 1-1-2, 1-2-1, 1-2-2, 1-3-1 and 1-3-2) and the working surface generate 'viscous' movement, because the friction forces of two driving feet (1-1-1, 1-1-2, 1-2-1, 1-2-2, 1-3-1 and 1-3-2) of the same piezoelectric body section (1-1, 1-2 and 1-3) and a working surface are different, the resultant force of the friction forces is utilized to drive 3 groups of herringbone piezoelectric body sections (1) to simultaneously move one step along the clockwise circumferential tangential direction;
step eight, repeating the step six to the step seven, and driving the small multi-body piezoelectric robot to realize clockwise continuous rotation stepping motion around the Z axis.
5. The excitation method according to claim 4, wherein: according to the excitation method of the small-sized multi-body voltage-saving robot, the waveform of an excitation voltage signal required by the method is an asymmetric wave, and the asymmetric wave is an asymmetric triangular wave or an asymmetric trapezoidal wave.
6. The excitation method according to claim 4, wherein: the excitation method of the small-sized multi-body piezoelectric robot can change the friction force between the driving feet (1-1-1, 1-1-2, 1-2-1, 1-2-2, 1-3-1 and 1-3-2) of 3 groups of herringbone piezoelectric body sections (1) and a working surface by an excitation signal active control method, adjust the magnitude and direction of the driving force and realize reverse driving.
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