Multimodal motion emergence in piezoelectric robot system with reconfigurable driving beam unit: Driving mechanism and design

A reconfigurable piezoelectric miniature robot was designed using a modular approach to address the limitations of traditional piezoelectric systems. The robot features driving beams as core components, which are activated by dual-frequency sine wave excitation to produce specific vibration modes for both forward and backward movement. This modular design enables flexible assembly and topology, resulting in various motion modes. In this paper, we thoroughly analyze the design and reconfiguration strategy of the robot module, focusing on the driving principles of the core unit. The dynamic characteristics of the driving beam, including its modal and transient behaviors, were examined through theoretical models and finite element analysis (FEA), which helped determine its driving modes. A prototype of the quadrilateral robot module was developed, and an experimental platform was established to assess the vibration properties of the driving beam and the robot module's output performance. The results demonstrate its flexible movement capabilities and potential applications. This study introduces an innovative approach to designing piezoelectric miniature robots and lays a foundation for multi-robot collaboration, highlighting promising future possibilities.