A foot-leg-trunk integrated multi-legged piezoelectric mobile robot and an excitation method thereof

Abstract

The application relates to a foot-leg-trunk integrated multi-foot piezoelectric mobile robot and an excitation method thereof, and relates to the field of micro mobile robots. The application solves the problems of high assembly difficulty, poor consistency between multiple drive units, complex control signals and the like of existing multi-foot piezoelectric mobile robots. The multi-foot piezoelectric mobile robot comprises a base body, a leg piezoelectric ceramic and a trunk piezoelectric ceramic. The base body is a positive symmetric integrated structure, comprises a first drive foot, a second drive foot, a third drive foot, a fourth drive foot, a first drive leg, a second drive leg, a third drive leg, a fourth drive leg and a trunk, the drive foot is connected with the drive leg, the drive leg is connected with the trunk, the leg piezoelectric ceramic is symmetrically arranged on the left and right sides of the drive leg, and the trunk piezoelectric ceramic is symmetrically arranged on the upper and lower sides of the trunk. The application is applied to the fields of precision engineering, aerospace, optical scanning and life science and the like.

Description

Technical Field

[0001] This invention relates to the field of micro-miniature mobile robots, and more particularly to a multi-legged piezoelectric mobile robot with an integrated foot-leg-torso structure. Background Technology

[0002] With the development of precision engineering, aerospace, optical scanning, and life sciences, the demand for mobile robots with characteristics such as miniaturization, high resolution, long stroke, and multiple degrees of freedom is steadily increasing. Mobile robots developed based on piezoelectric actuation principles are widely used in these precision manipulation fields due to their high motion accuracy, fast response speed, and immunity to electromagnetic interference. Among them, multi-legged mobile robots have significant advantages in achieving multi-degree-of-freedom motion. However, current multi-legged piezoelectric mobile robots are mostly of a split structure, generally suffering from problems such as high assembly difficulty, difficulty in ensuring consistency between multiple drive units, and complex control signals. Summary of the Invention

[0003] This invention addresses the problems of high assembly difficulty, poor consistency among multiple drive units, and complex control signals in existing multi-legged piezoelectric mobile robots. It proposes a foot-leg-torso integrated multi-legged piezoelectric mobile robot, the specific solution of which is as follows:

[0004] A multi-legged piezoelectric mobile robot with an integrated foot-leg-torso structure is disclosed. The multi-legged piezoelectric mobile robot includes a base, leg piezoelectric ceramics, and torso piezoelectric ceramics. The base is an orthogonally symmetrical integrated structure, including a first driving foot, a second driving foot, a third driving foot, a fourth driving foot, a first driving leg, a second driving leg, a third driving leg, a fourth driving leg, and a torso. The driving feet are connected to the driving legs; the driving legs are connected to the torso; the leg piezoelectric ceramics are symmetrically arranged on the left and right sides of the driving legs; and the torso piezoelectric ceramics are symmetrically arranged on the upper and lower sides of the torso.

[0005] Furthermore, a preferred embodiment is proposed in which the torso has a regular hexagonal structure.

[0006] Furthermore, a preferred embodiment is proposed, wherein the torso piezoelectric ceramic has a four-section structure.

[0007] Furthermore, a preferred embodiment is proposed in which the polarization directions of adjacent polarization zones of the torso piezoelectric ceramic are opposite, and the zone arrangement is symmetrical about the X-axis and Y-axis.

[0008] Furthermore, a preferred embodiment is proposed in which both the leg piezoelectric ceramic and the torso piezoelectric ceramic are polarized along the thickness direction.

[0009] Based on the same inventive concept, this invention also proposes an excitation method for a foot-leg-torso integrated multi-leg piezoelectric mobile robot. The method is based on the aforementioned foot-leg-torso integrated multi-leg piezoelectric mobile robot. By exciting the piezoelectric ceramics of the legs and the piezoelectric ceramics of the torso, the piezoelectric mobile robot achieves planar three-degree-of-freedom motion, including linear motion along the X-axis and Y-axis and rotational motion around the Z-axis.

[0010] Furthermore, a preferred embodiment is proposed, wherein the excitation method for the linear motion along the X-axis is as follows:

[0011] A sinusoidal voltage signal with a frequency of horizontal bending vibration mode is applied to the piezoelectric ceramics on the first and third driving legs to excite the first and third driving legs to generate in-phase horizontal vibrations along the X-axis.

[0012] A sinusoidal voltage signal with an out-of-plane bending vibration mode frequency is applied to the piezoelectric ceramic of the torso to excite the first driving foot, the second driving foot, the third driving foot and the fourth driving foot to generate vertical vibration along the Z-axis;

[0013] The phase difference between the sinusoidal voltage signals of the leg piezoelectric ceramics and the torso piezoelectric ceramics is adjusted to 90°. The horizontal and vertical vibrations on the first and third driving feet are synthesized into elliptical vibration trajectories in the XOZ plane. When viewed from the positive Y-axis direction, the elliptical trajectories of the first and third driving feet are in the same direction, thereby driving the foot-leg-torso integrated multi-leg piezoelectric mobile robot to achieve linear motion along the X-axis.

[0014] Furthermore, a preferred embodiment is proposed, wherein the excitation method for the linear motion along the Y-axis is as follows:

[0015] A sinusoidal voltage signal with a frequency of horizontal bending vibration mode is applied to the piezoelectric ceramics on the second and fourth driving legs to excite the second and fourth driving legs to generate in-phase horizontal vibrations along the Y-axis.

[0016] A sinusoidal voltage signal with an out-of-plane bending vibration mode frequency is applied to the piezoelectric ceramic of the torso to excite the first driving foot, the second driving foot, the third driving foot and the fourth driving foot to generate vertical vibration along the Z-axis;

[0017] The phase difference between the sinusoidal voltage signals of the leg piezoelectric ceramics and the torso piezoelectric ceramics is adjusted to 90°. The horizontal and vertical vibrations on the second and fourth driving feet are synthesized into elliptical vibration trajectories in the YOZ plane. When viewed from the positive X-axis direction, the elliptical trajectories of the second and fourth driving feet are in the same direction, thereby driving the foot-leg-torso integrated multi-leg piezoelectric mobile robot to achieve linear motion along the Y-axis.

[0018] Furthermore, a preferred embodiment is proposed, wherein the excitation method for the rotational motion around the Z-axis is as follows:

[0019] A sinusoidal voltage signal with a horizontal bending vibration mode frequency is applied to the piezoelectric ceramics on the first and third driving legs or the second and fourth driving legs to excite the first and third driving legs or the second and fourth driving legs to generate anti-phase horizontal vibrations along the X-axis or Y-axis.

[0020] A sinusoidal voltage signal with an out-of-plane bending vibration mode frequency is applied to the piezoelectric ceramic of the torso to excite the first driving foot, the second driving foot, the third driving foot and the fourth driving foot to generate vertical vibration along the Z-axis;

[0021] The phase difference between the sinusoidal voltage signals of the leg piezoelectric ceramics and the torso piezoelectric ceramics is adjusted to 90°. The horizontal and vertical vibrations on the first and third driving feet or the second and fourth driving feet are synthesized into elliptical vibration trajectories in the XOZ or YOZ plane. When viewed from the positive X-axis or Y-axis direction, the elliptical trajectories of the first and third driving feet or the second and fourth driving feet are in opposite directions, thereby driving the foot-leg-torso integrated multi-leg piezoelectric mobile robot to achieve rotational motion around the Z-axis.

[0022] The advantages of this invention are:

[0023] (1) The foot-leg-torso integrated multi-leg piezoelectric mobile robot of the present invention adopts the piezoelectric drive principle and has excellent characteristics such as simple structure, small size, light weight, high motion accuracy, fast response speed and immunity to electromagnetic interference.

[0024] (2) Traditional multi-legged piezoelectric mobile robots typically consist of multiple independent drive units, which require separate installation and debugging, increasing assembly complexity and time consumption. This embodiment proposes an integrated structure, namely a foot-leg-torso integrated design, making the overall structure more compact and easier to assemble. This design significantly reduces assembly difficulty and improves manufacturing efficiency.

[0025] (3) In traditional designs, each drive unit is independent, and their performance and working state may differ, resulting in low stability and accuracy of the robot during movement and control. The integrated design of the foot-leg-torso integrated multi-leg piezoelectric mobile robot described in this invention means that all drive units are integrated into an orthogonal symmetrical base, and symmetry is achieved through a unified arrangement and connection method, thereby improving the consistency and coordination between drive units.

[0026] (4) In traditional designs, multiple dispersed drive units need to be controlled independently, and their control signals may be complex and difficult to manage and regulate in a unified manner. In the foot-leg-torso integrated multi-leg piezoelectric mobile robot described in this invention, since all drive units are integrated into one unit, the management and distribution of control signals become simpler and more centralized, which is conducive to achieving more efficient motion control and system management.

[0027] (5) The excitation method of the foot-leg-torso integrated multi-leg piezoelectric mobile robot of the present invention only requires two excitation signals to realize the planar three-degree-of-freedom motion of the robot, which greatly reduces the control difficulty.

[0028] This invention has applications in fields such as precision engineering, aerospace, optical scanning, and life sciences. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the overall structure of the foot-leg-torso integrated multi-leg piezoelectric mobile robot described in Embodiment 1;

[0030] Figure 2 This is a schematic diagram of the substrate structure described in Embodiment 1;

[0031] Figure 3 This is a schematic diagram of the leg piezoelectric ceramic structure described in Embodiment 5;

[0032] Figure 4 This is a schematic diagram of the mid-torso piezoelectric ceramic structure described in Embodiment 4;

[0033] Figure 5 An exploded view of the structure of the foot-leg-torso integrated multi-legged piezoelectric mobile robot described in Embodiment 10;

[0034] Figure 6 This is a schematic diagram illustrating the principle of linear motion along the X-axis of the foot-leg-torso integrated multi-leg piezoelectric mobile robot described in Embodiment 10.

[0035] Figure 7 This is a schematic diagram illustrating the principle of linear motion along the Y-axis of the foot-leg-torso integrated multi-leg piezoelectric mobile robot described in Embodiment 10.

[0036] Figure 8 This is a schematic diagram illustrating the principle of rotational motion around the Z-axis of the integrated foot-leg-torso multi-leg piezoelectric mobile robot described in Embodiment 10.

[0037] Figure 9 This is a schematic diagram of the excitation signal for the integrated foot-leg-torso multi-leg piezoelectric mobile robot described in Embodiment 10.

[0038] Explanation of reference numerals in the attached figures:

[0039] 1—Substrate; 1-1—First driving foot, 1-2—Second driving foot, 1-3—Third driving foot, 1-4—Fourth driving foot; 1-5—First driving leg, 1-6—Second driving leg, 1-7—Third driving leg, 1-8—Fourth driving leg; 1-9 Torso; 2—Leg piezoelectric ceramic; 3—Torso piezoelectric ceramic. Detailed Implementation

[0040] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0041] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this invention is in use. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention. In addition, the terms "first," "second," "third," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0042] Furthermore, terms such as "horizontal" and "vertical" do not imply that components must be absolutely horizontal or suspended, but rather that they can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0043] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0044] Implementation Method 1, see [link] Figure 1 and Figure 2 This embodiment describes a foot-leg-torso integrated multi-leg piezoelectric mobile robot. The multi-leg piezoelectric mobile robot includes: a base 1, leg piezoelectric ceramics 2, and torso piezoelectric ceramics 3. The base 1 is an orthogonally symmetrical integrated structure, including a first driving foot 1-1, a second driving foot 1-2, a third driving foot 1-3, a fourth driving foot 1-4, a first driving leg 1-5, a second driving leg 1-6, a third driving leg 1-7, a fourth driving leg 1-8, and a torso 1-9. The driving feet are connected to the driving legs; the driving legs are connected to the torso; the leg piezoelectric ceramics 2 are symmetrically arranged on the left and right sides of the driving legs; the torso piezoelectric ceramics 3 are symmetrically arranged on the upper and lower sides of the torso 1-9.

[0045] Traditional multi-legged piezoelectric mobile robots typically consist of multiple independent drive units, which require separate installation and debugging, increasing assembly complexity and time consumption. This embodiment proposes an integrated structure—a foot-leg-torso integrated design—resulting in a more compact overall structure and easier assembly. This design significantly reduces assembly difficulty and improves manufacturing efficiency.

[0046] In traditional designs, each drive unit is independent, and their performance and operating states may differ, resulting in low stability and accuracy of the robot during motion and control. The integrated design in this embodiment means that all drive units are integrated into an orthogonal symmetrical base, and symmetry is achieved through a unified arrangement and connection method, thereby improving the consistency and coordination between drive units.

[0047] Furthermore, in traditional designs, multiple dispersed drive units require independent control, resulting in complex and difficult-to-manage and regulate control signals. In this embodiment, since all drive units are integrated, the management and distribution of control signals become simpler and more centralized, facilitating more efficient motion control and system management.

[0048] Implementation Method 2: This implementation method is a further definition of the foot-leg-torso integrated multi-leg piezoelectric mobile robot described in Implementation Method 1, wherein the torso 1-9 is a regular hexagonal structure.

[0049] Because of its balanced mechanical properties, the regular hexagonal structure provides more stable support during robot movement and load changes. This structural design helps reduce the robot's swaying and instability under different terrains and working conditions, thereby improving the smoothness and reliability of its movement.

[0050] The hexagonal structure of the torso better matches the symmetrical layout of the driven feet and legs, further optimizing the overall symmetry of the robot. This symmetry is not only aesthetically pleasing but also helps improve the robot's coordination and dynamic balance during movement.

[0051] Designing the torso as a regular hexagonal structure simplifies its manufacturing and assembly process. The hexagonal geometry offers engineering advantages, such as easier material selection and processing, and simpler assembly steps. This reduces manufacturing costs and increases production efficiency.

[0052] In practical applications, the torso can be topologically classified into regular polygonal structures such as squares and octagons, as well as circular structures.

[0053] Implementation Method 3: This implementation method is a further definition of the foot-leg-torso integrated multi-leg piezoelectric mobile robot described in Implementation Method 1, wherein the torso piezoelectric ceramic 3 has a four-part structure.

[0054] The four-zone structure of the torso piezoelectric ceramics allows for independent control of the deformation and movement of each zone, thereby enhancing the robot's adaptability and mobility in complex environments. Precise control of the piezoelectric ceramics in each zone enables more accurate gait and posture adjustments, improving the robot's positioning accuracy and motion stability.

[0055] The independent controllability of each zone in the four-zone structure means that the operating state of the piezoelectric ceramics and the power input can be adjusted as needed to optimize the energy efficiency ratio. This not only helps reduce energy consumption but also extends the robot's working time and endurance, improving its availability and efficiency in practical applications.

[0056] The independent control of each zone in the four-zone structure also improves the scalability and maintainability of the robot system. When it is necessary to upgrade or replace the ceramic in a certain zone, the operation can be performed more precisely without affecting the overall performance. This modular design helps to reduce maintenance costs and time.

[0057] In practical applications, the torso piezoelectric ceramic can be topologically configured as a six-section or eight-section structure, depending on the number of driving feet.

[0058] Implementation Method Four, see below Figure 4 This embodiment is described below. This embodiment further defines the foot-leg-torso integrated multi-leg piezoelectric mobile robot described in either Embodiment 1 or Embodiment 3, wherein the polarization directions of adjacent polarization zones of the torso piezoelectric ceramic 3 are opposite, and the zone arrangement is symmetrical about the X-axis and Y-axis.

[0059] The opposite polarization directions of adjacent ceramic sections in the torso cause the vertical vibration phases of the first and second driving legs and the third and fourth driving legs to be opposite, thereby reducing friction during robot movement. Furthermore, this reduces the number of driving signals and simplifies control. The symmetrical arrangement of the sections about the X and Y axes optimizes the robot's structural symmetry. This symmetry not only improves the robot's coordination in motion and stability but also helps reduce vibrations and instabilities caused by asymmetrical loading, further enhancing the robot's efficiency and performance.

[0060] Implementation Method 5, see below Figure 3 This embodiment further defines the integrated foot-leg-torso multi-legged piezoelectric mobile robot described in Embodiment 1, wherein the leg piezoelectric ceramic 2 and the torso piezoelectric ceramic 3 are both polarized along the thickness direction.

[0061] By polarizing piezoelectric ceramics along their thickness, the piezoelectric effect can be utilized more effectively. This means that when an electric field is applied, greater deformation can be generated, or conversely, more charge can be generated from mechanical vibrations. Therefore, robots can more efficiently convert between electrical and mechanical energy during movement, improving energy utilization efficiency.

[0062] Because piezoelectric ceramics are polarized along the thickness direction, the drive signal can be applied more directly in the thickness direction for the control system, simplifying the design of the control algorithm and drive circuit. This simplification helps reduce system complexity and improves the robot's reliability and stability.

[0063] Implementation Method Six: The excitation method for a foot-leg-torso integrated multi-leg piezoelectric mobile robot described in this implementation method is based on the foot-leg-torso integrated multi-leg piezoelectric mobile robot described in claim 1. The piezoelectric mobile robot achieves planar three-degree-of-freedom motion by exciting the piezoelectric ceramics 2 of the legs and the piezoelectric ceramics 3 of the torso, including linear motion along the X-axis and Y-axis and rotational motion around the Z-axis.

[0064] By stimulating the piezoelectric ceramics in the legs and torso, the robot can achieve planar three-degree-of-freedom motion, including linear motion along the X and Y axes and rotational motion about the Z axis. This integrated motion control enables the robot to move and position flexibly in complex environments, adapting to different tasks and spatial constraints.

[0065] By controlling the excitation signals of the piezoelectric ceramics in the legs and torso, the robot's motion patterns and trajectories can be precisely adjusted. For example, linear motion along the X and Y axes can be used for point-to-point movement or navigation on a plane, while rotational motion around the Z axis can be used to adjust orientation or avoid obstacles, thereby achieving more precise and efficient work execution.

[0066] This stimulation method enables the robot to adapt flexibly to different terrains and environmental conditions. Whether indoors or outdoors, the robot can effectively traverse obstacles or move in confined spaces by relying on its planar three-degree-of-freedom motion capabilities, demonstrating good maneuverability and adaptability.

[0067] Piezoelectric ceramics, as driving elements, have advantages such as high energy conversion efficiency, fast response speed, and simple structure. These characteristics enable robots to complete complex motion tasks with low energy consumption during operation, and because piezoelectric ceramics themselves have no mechanical contact parts, they have high reliability and durability.

[0068] Implementation Method Seven: This implementation method further defines the excitation method for a foot-leg-torso integrated multi-legged piezoelectric mobile robot described in Implementation Method Five. The excitation method for linear motion along the X-axis is as follows:

[0069] A sinusoidal voltage signal with a frequency of horizontal bending vibration mode is applied to the piezoelectric ceramics 2 on the first driving leg 1-5 and the third driving leg 1-7 to excite the first driving foot 1-1 and the third driving foot 1-3 to generate in-phase horizontal vibration along the X-axis.

[0070] A sinusoidal voltage signal with an out-of-plane bending vibration mode frequency is applied to the piezoelectric ceramic 3 of the torso to excite the first driving foot 1-1, the second driving foot 1-2, the third driving foot 1-3 and the fourth driving foot 1-4 to generate vertical vibration along the Z-axis;

[0071] The phase difference between the sinusoidal voltage signals of the leg piezoelectric ceramic 2 and the torso piezoelectric ceramic 3 is adjusted to 90°. The horizontal and vertical vibrations on the first driving foot 1-1 and the third driving foot 1-3 are synthesized into an elliptical vibration trajectory in the XOZ plane. When viewed from the positive Y-axis direction, the elliptical trajectories of the first driving foot 1-1 and the third driving foot 1-3 are in the same direction, thereby driving the foot-leg-torso integrated multi-leg piezoelectric mobile robot to achieve linear motion along the X-axis.

[0072] This embodiment generates horizontal bending vibration and out-of-plane bending vibration by applying precisely controlled sinusoidal voltage signals to the piezoelectric ceramics of the legs and torso, respectively. By adjusting the phase difference between these two vibrations to 90°, the first and third driving feet can generate elliptical vibration trajectories in the XOZ plane. This precise vibration control helps the robot achieve stable and highly predictable linear motion along the X-axis, making it particularly suitable for applications requiring precise positioning and control.

[0073] By aligning the first and third driving legs with elliptical trajectories in the same direction within the XOZ plane, power transmission and motion efficiency are effectively optimized. This design reduces energy loss and unnecessary vibration, improving the robot's energy efficiency and dynamic response during movement.

[0074] The realization of elliptical vibration trajectories means that the load distribution during robot movement is more uniform, reducing stress concentration in the structure and materials, thereby improving mechanical stability and structural durability. This is especially important for robots that operate for long periods and move frequently.

[0075] Implementation Method Eight: This implementation method further defines the excitation method for a foot-leg-torso integrated multi-legged piezoelectric mobile robot described in Implementation Method Five. The excitation method for linear motion along the Y-axis is as follows:

[0076] A sinusoidal voltage signal with a horizontal bending vibration mode frequency is applied to the piezoelectric ceramics 2 on the second driving leg 1-6 and the fourth driving leg 1-8 to excite the second driving foot 1-2 and the fourth driving foot 1-4 to generate in-phase horizontal vibration along the Y-axis.

[0077] A sinusoidal voltage signal with an out-of-plane bending vibration mode frequency is applied to the piezoelectric ceramic 3 of the torso to excite the first driving foot 1-1, the second driving foot 1-2, the third driving foot 1-3 and the fourth driving foot 1-4 and generate vertical vibration along the Z-axis.

[0078] The phase difference between the sinusoidal voltage signals of the leg piezoelectric ceramic 2 and the torso piezoelectric ceramic 3 is adjusted to 90°. The horizontal and vertical vibrations on the second driving foot 1-2 and the fourth driving foot 1-4 are synthesized into an elliptical vibration trajectory in the YOZ plane. When viewed from the positive X-axis direction, the elliptical trajectories of the second driving foot 1-2 and the fourth driving foot 1-4 are in the same direction, thereby driving the foot-leg-torso integrated multi-leg piezoelectric mobile robot to achieve linear motion along the Y.

[0079] By applying sinusoidal voltage signals of horizontal bending vibration mode to the second and fourth driving legs, and sinusoidal voltage signals of out-of-plane bending vibration mode to the torso, and adjusting their phase difference to 90°, the second and fourth driving legs can generate elliptical vibration trajectories in the same direction within the YOZ plane. This precise trajectory control ensures stable linear motion of the robot along the Y-axis.

[0080] The synthesized elliptical vibration trajectory means that the second and fourth driving legs can transmit power more efficiently during movement. By optimizing the vibration trajectory, energy loss and unnecessary vibrations are reduced, improving the robot's energy efficiency and motion efficiency.

[0081] Elliptical vibration trajectories not only optimize power transmission but also help reduce stress concentration in the robot's structure and materials, thereby enhancing overall structural stability and durability. This is particularly important for applications requiring long-term operation and operating in complex environments.

[0082] The elliptical trajectories generated by the second and fourth driving legs are in the same direction, meaning they can work in coordination, enhancing the robot's mobility across different terrains and obstacles. This directionality and coordination make the robot more suitable for tasks requiring highly precise and complex path planning.

[0083] Implementation Method Nine, see below Figures 5 to 9 This embodiment further defines the excitation method for a foot-leg-torso integrated multi-legged piezoelectric mobile robot described in Embodiment 5. The excitation method for the rotational motion around the Z-axis is as follows:

[0084] A sinusoidal voltage signal with a horizontal bending vibration mode frequency is applied to the piezoelectric ceramics 2 on the first driving leg 1-5 and the third driving leg 1-7 or the second driving leg 1-6 and the fourth driving leg 1-8 to excite the first driving foot 1-1 and the third driving foot 1-3 or the second driving foot 1-2 and the fourth driving foot 1-4 to generate anti-phase horizontal vibrations along the X-axis or Y-axis.

[0085] A sinusoidal voltage signal with an out-of-plane bending vibration mode frequency is applied to the piezoelectric ceramic 3 of the torso to excite the first driving foot 1-1, the second driving foot 1-2, the third driving foot 1-3 and the fourth driving foot 1-4 to generate vertical vibration along the Z-axis;

[0086] The phase difference between the sinusoidal voltage signals of the leg piezoelectric ceramic 2 and the torso piezoelectric ceramic 3 is adjusted to 90°. The horizontal and vertical vibrations on the first driving foot 1-1 and the third driving foot 1-3 or the second driving foot 1-2 and the fourth driving foot 1-4 are synthesized into an elliptical vibration trajectory in the XOZ plane or the YOZ plane. When viewed from the positive X-axis or Y-axis direction, the elliptical trajectories of the first driving foot 1-1 and the third driving foot 1-3 or the second driving foot 1-2 and the fourth driving foot 1-4 are in opposite directions, thereby driving the foot-leg-torso integrated multi-leg piezoelectric mobile robot to achieve rotational motion around the Z-axis.

[0087] By applying sinusoidal voltage signals with frequencies corresponding to horizontal bending vibration and out-of-plane bending vibration modes, piezoelectric ceramics on the legs and torso are excited, respectively, enabling precise control of multiple robot components. This method allows the robot to generate vibrations along the X, Y, and Z axes in a predetermined manner, thereby achieving complex motion patterns.

[0088] By adjusting the phase difference of the sinusoidal voltage signals of the piezoelectric ceramics in the legs and torso to 90°, an elliptical vibration trajectory can be synthesized in either the XOZ or YOZ plane. This elliptical vibration trajectory not only helps improve the robot's stability but also reduces swaying and instability during movement, thus making the robot's motion smoother and more controllable.

[0089] By adjusting the sinusoidal voltage signal, different vibration frequencies and amplitudes can be achieved, allowing for flexible adjustments and adaptation to different working environments during robot movement. This flexibility enables the robot to move freely and perform tasks in complex terrains or environments.

[0090] In particular, by applying different vibration modes and phase differences to different leg and torso regions, the robot is able to achieve rotational motion around the Z-axis. This capability is especially important for scenarios requiring directional movement or tasks involving orbiting targets, effectively expanding the robot's application areas and functions.

[0091] Implementation Method 10: This implementation method provides a specific embodiment of the foot-leg-torso integrated multi-legged piezoelectric mobile robot described in Implementation Method 1, and also serves to explain Implementation Methods 2 to 5. Specifically:

[0092] The integrated multi-legged piezoelectric mobile robot of this embodiment includes: a base 1, leg piezoelectric ceramics 2, and torso piezoelectric ceramics 3.

[0093] like Figure 2 The diagram shows a schematic of the base 1 structure. The base 1 is an orthogonally symmetrical integral structure, including a first driving foot 1-1, a second driving foot 1-2, a third driving foot 1-3, a fourth driving foot 1-4, a first driving leg 1-5, a second driving leg 1-6, a third driving leg 1-7, a fourth driving leg 1-8, and a torso 1-9. The first driving foot 1-1, the second driving foot 1-2, the third driving foot 1-3, and the fourth driving foot 1-4 are respectively connected to the first driving leg 1-5, the second driving leg 1-6, the third driving leg 1-7, and the fourth driving leg 1-8. The first driving leg 1-5, the second driving leg 1-6, the third driving leg 1-7, and the fourth driving leg 1-8 are connected to the torso 1-9.

[0094] like Figure 3 The diagram shows a schematic of the leg piezoelectric ceramic 2 structure, wherein the leg piezoelectric ceramic 2 is polarized along the thickness direction.

[0095] like Figure 4 The diagram shows a schematic of the structure of the torso piezoelectric ceramic 3. The torso piezoelectric ceramic 3 is polarized along the thickness direction and has four symmetrically distributed polarization zones, with the polarization directions of adjacent polarization zones being opposite.

[0096] like Figure 5 The diagram shown is an exploded view of the structure of a multi-legged piezoelectric mobile robot with an integrated foot-leg-torso configuration. The piezoelectric ceramics 2 of the legs are symmetrically arranged on the left and right sides of the first driving leg 1-5, the second driving leg 1-6, the third driving leg 1-7, and the fourth driving leg 1-8. The piezoelectric ceramics 3 of the torso are symmetrically arranged on the upper and lower sides of the torso 1-9, and the polarization partitions are symmetrical about the X-axis and Y-axis.

[0097] This embodiment provides a specific implementation plan for the excitation method of the above-mentioned foot-leg-torso integrated multi-leg piezoelectric mobile robot. This excitation method enables the foot-leg-torso integrated multi-leg piezoelectric mobile robot to achieve planar three-degree-of-freedom motion, including linear motion along the X-axis and Y-axis and rotational motion around the Z-axis.

[0098] like Figure 6 The diagram shown is a schematic of the linear motion along the X-axis in this embodiment. The specific excitation method is as follows:

[0099] Step 1: Apply a sinusoidal voltage signal with a horizontal bending vibration mode frequency to the piezoelectric ceramics 2 on the first driving leg 1-5 and the third driving leg 1-7 to excite the first driving foot 1-1 and the third driving foot 1-3 to generate in-phase horizontal vibration along the X-axis.

[0100] Step 2: Apply a sinusoidal voltage signal with an out-of-plane bending vibration mode frequency to the piezoelectric ceramic 3 of the torso to excite the first driving foot 1-1, the second driving foot 1-2, the third driving foot 1-3 and the fourth driving foot 1-4 to generate vertical vibration along the Z-axis;

[0101] The phase difference between the sinusoidal voltage signals of the leg piezoelectric ceramic 2 and the torso piezoelectric ceramic 3 is adjusted to 90°. The horizontal and vertical vibrations on the first driving foot 1-1 and the third driving foot 1-3 are synthesized into an elliptical vibration trajectory in the XOZ plane. When viewed from the positive Y-axis direction, the elliptical trajectories of the first driving foot 1-1 and the third driving foot 1-3 are in the same direction, thereby driving the foot-leg-torso integrated multi-leg piezoelectric mobile robot to achieve linear motion along the X-axis.

[0102] like Figure 7 The diagram shown is a schematic of the linear motion along the Y-axis in this embodiment. The specific excitation method is as follows:

[0103] Step 1: Apply a sinusoidal voltage signal with a horizontal bending vibration mode frequency to the piezoelectric ceramics 2 on the second driving leg 1-6 and the fourth driving leg 1-8 to excite the second driving foot 1-2 and the fourth driving foot 1-4 to generate in-phase horizontal vibration along the Y-axis.

[0104] Step 2: Apply a sinusoidal voltage signal with an out-of-plane bending vibration mode frequency to the piezoelectric ceramic 3 of the torso to excite the first driving foot 1-1, the second driving foot 1-2, the third driving foot 1-3 and the fourth driving foot 1-4 to generate vertical vibration along the Z-axis;

[0105] The phase difference between the sinusoidal voltage signals of the leg piezoelectric ceramic 2 and the torso piezoelectric ceramic 3 is adjusted to 90°. The horizontal and vertical vibrations on the second driving foot 1-2 and the fourth driving foot 1-4 are synthesized into an elliptical vibration trajectory in the YOZ plane. When viewed from the positive X-axis direction, the elliptical trajectories of the second driving foot 1-2 and the fourth driving foot 1-4 are in the same direction, thereby driving the foot-leg-torso integrated multi-leg piezoelectric mobile robot to achieve linear motion along the Y.

[0106] like Figure 8 The diagram shown is a schematic of the rotational motion around the Z-axis in this embodiment. The specific excitation method is as follows:

[0107] Step 1: Apply a sinusoidal voltage signal with a horizontal bending vibration mode frequency to the piezoelectric ceramics 2 on the first driving leg 1-5 and the third driving leg 1-7 or the second driving leg 1-6 and the fourth driving leg 1-8 to excite the first driving foot 1-1 and the third driving foot 1-3 or the second driving foot 1-2 and the fourth driving foot 1-4 to generate anti-phase horizontal vibrations along the X-axis or Y-axis.

[0108] Step 2: Apply a sinusoidal voltage signal with an out-of-plane bending vibration mode frequency to the piezoelectric ceramic 3 of the torso to excite the first driving foot 1-1, the second driving foot 1-2, the third driving foot 1-3 and the fourth driving foot 1-4 to generate vertical vibration along the Z-axis;

[0109] The phase difference between the sinusoidal voltage signals of the leg piezoelectric ceramic 2 and the torso piezoelectric ceramic 3 is adjusted to 90°. The horizontal and vertical vibrations on the first driving foot 1-1 and the third driving foot 1-3 or the second driving foot 1-2 and the fourth driving foot 1-4 are synthesized into an elliptical vibration trajectory in the XOZ plane or the YOZ plane. When viewed from the positive X-axis or Y-axis direction, the elliptical trajectories of the first driving foot 1-1 and the third driving foot 1-3 or the second driving foot 1-2 and the fourth driving foot 1-4 are in opposite directions, thereby driving the foot-leg-torso integrated multi-leg piezoelectric mobile robot to achieve rotational motion around the Z-axis.

[0110] like Figure 9 The diagram shown is a schematic of the voltage excitation signal used for the leg piezoelectric ceramic 2 and the torso piezoelectric ceramic 3.

[0111] Refer to the instruction manual Figure 6 and Figure 7This embodiment provides a more detailed description of a specific implementation scheme for reducing frictional resistance during the movement of the integrated foot-leg-torso multi-leg piezoelectric mobile robot. When the integrated foot-leg-torso multi-leg piezoelectric mobile robot achieves planar linear freedom motion, and the first driving leg 1-1 and the third driving leg 1-3 or the second driving leg 1-2 and the fourth driving leg 1-4 generate the elliptical vibration trajectory for driving, the second driving leg 1-2 and the fourth driving leg 1-4 or the first driving leg 1-1 and the third driving leg 1-3 only generate vertical vibration, thereby reducing the frictional resistance of the integrated foot-leg-torso multi-leg piezoelectric mobile robot during movement.

[0112] Refer to the instruction manual Figure 9 This embodiment provides a detailed description of a specific implementation scheme for achieving reverse motion of each degree of freedom in the integrated foot-leg-torso multi-leg piezoelectric mobile robot. During planar three-degree-of-freedom motion, the integrated foot-leg-torso multi-leg piezoelectric mobile robot can achieve reverse motion of each degree of freedom by adjusting the phase difference between the sinusoidal voltage signals of the leg piezoelectric ceramics 2 on the first driving leg 1-5 and the third driving leg 1-7, or the second driving leg 1-6 and the fourth driving leg 1-8, and the torso piezoelectric ceramic 3 to -90°.

[0113] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this disclosure and not to limit its protection scope. Although this disclosure has been described in detail with reference to the above embodiments, those skilled in the art should understand that after reading this disclosure, they can still make various changes, modifications or equivalent substitutions to the specific implementation of the invention, but these changes, modifications or equivalent substitutions are all within the protection scope of the published pending claims.

Claims

1. A method for stimulating a foot-leg-torso integrated multi-legged piezoelectric mobile robot, characterized in that, The method is based on the aforementioned foot-leg-torso integrated multi-leg piezoelectric mobile robot, which includes: a base (1), leg piezoelectric ceramics (2) and torso piezoelectric ceramics (3). The base (1) is an orthogonally symmetrical integrated structure, including a first driving foot (1-1), a second driving foot (1-2), a third driving foot (1-3), a fourth driving foot (1-4), a first driving leg (1-5), a second driving leg (1-6), a third driving leg (1-7), a fourth driving leg (1-8), and a torso (1-9). The driving feet are connected to the driving legs; the driving legs are connected to the torso; the leg piezoelectric ceramics (2) are symmetrically arranged on the left and right sides of the driving legs; the torso piezoelectric ceramics (3) are symmetrically arranged on the upper and lower sides of the torso (1-9). The torso (1-9) has a regular hexagonal structure; The piezoelectric ceramic (3) of the torso has a four-part structure; The polarization directions of adjacent polarization zones of the piezoelectric ceramic (3) in the torso are opposite, and the zone arrangement is symmetrical about the X-axis and Y-axis. Both the leg piezoelectric ceramic (2) and the torso piezoelectric ceramic (3) are polarized along the thickness direction; The piezoelectric mobile robot achieves planar three-degree-of-freedom motion by stimulating the piezoelectric ceramics in the legs (2) and the piezoelectric ceramics in the torso (3), including linear motion along the X and Y axes and rotational motion around the Z axis.

2. The excitation method for a foot-leg-torso integrated multi-legged piezoelectric mobile robot according to claim 1, characterized in that, The excitation method for the linear motion along the X-axis is as follows: A sinusoidal voltage signal with a frequency of horizontal bending vibration mode is applied to the piezoelectric ceramics (2) on the first driving leg (1-5) and the third driving leg (1-7) to excite the first driving foot (1-1) and the third driving foot (1-3) to generate in-phase horizontal vibration along the X-axis; A sinusoidal voltage signal with a frequency of out-of-plane bending vibration mode is applied to the piezoelectric ceramic (3) of the torso to excite the first driving foot (1-1), the second driving foot (1-2), the third driving foot (1-3) and the fourth driving foot (1-4) to generate vertical vibration along the Z-axis; The phase difference between the sinusoidal voltage signals of the leg piezoelectric ceramic (2) and the torso piezoelectric ceramic (3) is adjusted to 90°. The horizontal and vertical vibrations on the first driving foot (1-1) and the third driving foot (1-3) are synthesized into an elliptical vibration trajectory in the XOZ plane. When viewed from the positive Y-axis direction, the elliptical trajectories of the first driving foot (1-1) and the third driving foot (1-3) are in the same direction, thereby driving the foot-leg-torso integrated multi-leg piezoelectric mobile robot to achieve linear motion along the X-axis.

3. The excitation method for a foot-leg-torso integrated multi-legged piezoelectric mobile robot according to claim 1, characterized in that, The excitation method for the linear motion along the Y-axis is as follows: A sinusoidal voltage signal with a frequency of horizontal bending vibration mode is applied to the piezoelectric ceramics (2) on the second driving leg (1-6) and the fourth driving leg (1-8) to excite the second driving foot (1-2) and the fourth driving foot (1-4) to generate in-phase horizontal vibration along the Y-axis; A sinusoidal voltage signal with a frequency of out-of-plane bending vibration mode is applied to the torso piezoelectric ceramic (3) to excite the first driving foot (1-1), the second driving foot (1-2), the third driving foot (1-3) and the fourth driving foot (1-4) and generate vertical vibration along the Z-axis; The phase difference between the sinusoidal voltage signals of the leg piezoelectric ceramic (2) and the torso piezoelectric ceramic (3) is adjusted to 90°. The horizontal and vertical vibrations on the second driving foot (1-2) and the fourth driving foot (1-4) are synthesized into an elliptical vibration trajectory in the YOZ plane. When viewed from the positive X-axis direction, the elliptical trajectories of the second driving foot (1-2) and the fourth driving foot (1-4) are in the same direction, thereby driving the foot-leg-torso integrated multi-leg piezoelectric mobile robot to achieve linear motion along the Y.

4. The excitation method for a foot-leg-torso integrated multi-legged piezoelectric mobile robot according to claim 1, characterized in that, The excitation method for the rotational motion around the Z-axis is as follows: A sinusoidal voltage signal with a frequency of horizontal bending vibration mode is applied to the piezoelectric ceramics (2) on the first driving leg (1-5) and the third driving leg (1-7) or the second driving leg (1-6) and the fourth driving leg (1-8) to excite the first driving foot (1-1) and the third driving foot (1-3) or the second driving foot (1-2) and the fourth driving foot (1-4) to generate anti-phase horizontal vibration along the X-axis or Y-axis; A sinusoidal voltage signal with a frequency of out-of-plane bending vibration mode is applied to the piezoelectric ceramic (3) of the torso to excite the first driving foot (1-1), the second driving foot (1-2), the third driving foot (1-3) and the fourth driving foot (1-4) to generate vertical vibration along the Z-axis; The phase difference between the sinusoidal voltage signals of the leg piezoelectric ceramic (2) and the torso piezoelectric ceramic (3) is adjusted to 90°. The horizontal and vertical vibrations on the first driving foot (1-1) and the third driving foot (1-3) or the second driving foot (1-2) and the fourth driving foot (1-4) are synthesized into an elliptical vibration trajectory in the XOZ plane or the YOZ plane. When viewed from the positive direction of the X-axis or Y-axis, the elliptical trajectories of the first driving foot (1-1) and the third driving foot (1-3) or the second driving foot (1-2) and the fourth driving foot (1-4) are opposite in direction, thereby driving the foot-leg-torso integrated multi-leg piezoelectric mobile robot to achieve rotational motion around the Z-axis.

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