A prototype model of micro mobile machine with piezoelectric driving force actuator

The micro mobile machines for pin-type actuator models based on the piezoelectric vibration have been developed. It is composed of four pairs of piezoelectric sheet elements, an elastic plate and a contact pin to generate the driving force in X-Y plane by transmitting the piezoelectric vibration to the tip of the contact pin with the elastic plate bending vibrational mode control. In the experiment, the fundamental characteristics of pin-type actuators were measured with the various size, shapes and materials. The machine power and control signals are supplied by the external driving circuit. Their forward, backward, rotational and spiral movements can be performed in φ 36 mm pipe by controlling each of the actuator vibrational modes