Delta-type miniature robot using levitation mechanisms

We study miniature robots using piezo actuators. We proposed a levitating type miniature robot and a delta-type miniature robot using piezos and electromagnets. We thought that friction force control using levitation mechanism can realize more precise operation, and we proposed delta-type miniature robot using levitation mechanisms. This robot is combined the advantages of the two robots. This robot has three levitation mechanisms using the squeeze film effect. It can realize the linear and rotational displacement by its delta-type structure. Furthermore, its levitation mechanisms can help to decrease the frictional wear between the robot and working surface. In this study, we produce experimentally the L-type miniature robot using levitation mechanisms. This robot also can realize the linear and rotational displacement, and reduce a using piezo.