Miniature multi-degree-of-freedom piezoelectric crawling robot array and excitation method thereof

Abstract

The invention discloses a small-sized multi-degree-of-freedom piezoelectric robot array and a driving method thereof, and belongs to the field of miniature crawling robots, the small-sized multi-degree-of-freedom piezoelectric robot array comprises two groups of identical N-shaped piezoelectric robots and two connecting pieces, and the two N-shaped piezoelectric robots are connected in parallel through the connecting pieces; the N-shaped piezoelectric robot comprises a base body and two driving elements, excitation voltage is applied to the driving elements, when the voltage rises, the driving elements are bent and deformed to drive the left end of the base body to be lifted to the upper left portion, the right end of the base body is pressed to the lower right portion to form an anchor point, when the voltage drops, the driving elements recover deformation, and the left end of the base body drops to form the anchor point. The right end of the base body moves leftwards and forwards to realize planar linear motion; by controlling excitation voltage signals of the two groups of N-shaped piezoelectric robots, multi-degree-of-freedom movement of the piezoelectric robot array is realized; the small multi-degree-of-freedom piezoelectric robot array has the advantages of being simple in structure, high in movement precision, high in movement speed and high in environment adaptability.

Description

Technical Field

[0001] The invention belongs to the field of micro-crawling robots, and in particular relates to a micro-multi-degree-of-freedom piezoelectric crawling robot array and a driving method thereof. Background Art

[0002] Micro crawling robots are small in size and simple in structure. They abandon traditional motor drive and transmission structures and can work in various space-constrained environments, such as pipelines, search and rescue, and reconnaissance. They have been a hot research direction in the field of robotics in recent years.

[0003] Micro crawling robots can be divided into pneumatic actuation, magnetic drive actuation, intelligent material actuation, etc. according to the actuation method. Pneumatic actuation has high requirements for manufacturing process, complex structure, and slow movement speed. The magnetic field generated by the external magnetic field of magnetic drive actuation has limited working space, complex control, and a small range of robot movement. Piezoelectric materials are a type of intelligent material with the advantages of fast response, high displacement resolution, high energy output density, and anti-electromagnetic interference. Micro piezoelectric crawling robots have the characteristics of small size, light weight, high energy utilization, and fast movement speed.

[0004] The micro multi-degree-of-freedom piezoelectric crawling robot array proposed in the present invention is composed of two groups of parallel "N"-shaped piezoelectric robots, which are small in size, light in weight, simple to assemble and quick in response. The proposed driving method realizes the single-degree-of-freedom straight movement of the robot array through the inverse piezoelectric effect and the anchoring effect, breaks the spatial balance of the resultant force by controlling the application object of the excitation voltage, and realizes the rotational movement of the robot array. The motion mode of the robot array is changed by changing the excitation voltage frequency, and the jumping forward movement of the robot array is realized, which provides a feasible direction for the application and research of micro crawling robots. Summary of the invention

[0005] The purpose of the present invention is to provide a miniature multi-degree-of-freedom piezoelectric crawling robot array and a driving method thereof, aiming to solve the problems of high manufacturing process requirements, complicated structure, slow movement speed, and complex control of miniature crawling robots.

[0006] To achieve the above-mentioned purpose, the present invention provides a miniature multi-degree-of-freedom piezoelectric crawling robot array, comprising two groups of "N"-shaped piezoelectric robots and two connecting parts; the two groups of "N"-shaped piezoelectric robots have exactly the same structure and are connected in parallel by two connecting parts. The "N"-shaped piezoelectric robot structure comprises a substrate and two driving elements, and the driving elements are pasted on the upper and lower surfaces of the oblique edges of the substrate. When the driving elements are excited by the same voltage signal, their deformation directions are opposite, thereby controlling the substrate to realize lifting and falling actions.

[0007] Preferably, the "N"-shaped piezoelectric robot has a base angle of 30°, a base material of brass, a thickness of 0.2 mm, a vertical side length of 30 mm, a hypotenuse length of 34.64 mm, and an overall base width of 5 mm.

[0008] Preferably, the driving element material of the "N"-shaped piezoelectric robot is PZT-5H, with a length of 30 mm, a thickness of 0.2 mm, and a width of 5 mm, and is adhered to the upper and lower surfaces of the bevel of the substrate with epoxy resin conductive adhesive.

[0009] Preferably, when the driving element of the "N"-shaped piezoelectric robot is stimulated by a synchronously rising voltage signal, the left end of the hypotenuse of the substrate is lifted to the upper left and the right end is pressed to the lower right; the resultant force of each group of "N"-shaped piezoelectric robots along the horizontal direction of the contact surface is not zero.

[0010] Preferably, the number of the "N"-shaped piezoelectric robots connected in parallel is 1 or 2. When the number is 1, linear motion is achieved based on the anchoring principle. When the number is 2, the "N"-shaped piezoelectric robots are connected in parallel through connecting parts, and single-degree-of-freedom straight motion is achieved based on the anchoring principle, multi-degree-of-freedom rotational motion is achieved by changing the excitation voltage application object, and jumping forward is achieved by changing the excitation voltage frequency.

[0011] Preferably, the driving method of the small multi-degree-of-freedom piezoelectric robot array can realize straight-moving, turning and jumping movements of the robot array on the contact surface by controlling the excitation voltage frequency and the applied object.

[0012] In the above-mentioned movement, the horizontal straight movement is realized, which includes the following steps:

[0013] Step 1: The signal generator sends out a voltage signal with a fixed frequency, and the voltage signal is amplified by the power amplifier and then output to the driving element of the "N"-shaped piezoelectric robot.

[0014] Step 2: When the voltage signal rises from 0V to the peak value, the driving element on the upper surface of the hypotenuse of the base of the "N"-shaped piezoelectric robot extends along the central axis of the hypotenuse, and the driving element on the lower surface of the hypotenuse shortens along the central axis of the hypotenuse. The base bends and deforms, with the left end lifted to the upper left and the right end pressed down to the lower right to form an anchor point.

[0015] Step 3: When the voltage signal drops from the peak value to 0V, the driving element of the "N"-shaped piezoelectric robot resumes its deformation, the left end of the base falls, and the right end moves to the left in a single step.

[0016] Step 4: Repeat steps 2 and 3 to drive the small multi-degree-of-freedom piezoelectric robot array to move linearly in the horizontal direction.

[0016] In the above-mentioned movement, realizing the turning movement includes the following steps:

[0017] Step 5. One group of driving elements of the "N"-shaped piezoelectric robot is excited by voltage, while the other group of driving elements is not excited by voltage. When the voltage signal rises from 0V to the peak value, the driving elements on the upper surface of the hypotenuse of the substrate excited by voltage extend along the central axis of the hypotenuse, and the driving elements on the lower surface of the hypotenuse of the substrate shorten along the central axis of the hypotenuse. The substrate bends and deforms, while the other group of substrates does not deform, breaking the mechanical balance.

[0018] Step 6: When the voltage signal drops from the peak value to 0V, the driving element excited by the voltage recovers its deformation, and the excited substrate drives the non-excited substrate to deflect by a single-step angle.

[0019] Step 7: Repeat steps 5 and 6 to drive the small multi-degree-of-freedom piezoelectric robot array to perform rotational motion.

[0020] In the said movement, the jumping movement is realized including the following steps:

[0021] Step 8. At high-order natural frequencies, the small multi-degree-of-freedom piezoelectric robot array performs vertical jumping motion. Adjusting the frequency of the excitation voltage signal can drive the small multi-degree-of-freedom piezoelectric robot array to perform jumping forward motion.

[0022] Preferably, in the linear and rotational motion excitation method of the small multi-degree-of-freedom piezoelectric robot array, the excitation voltage signal is a half-sine wave voltage signal, the frequency is the first-order natural frequency of the small multi-degree-of-freedom piezoelectric robot array, 83 Hz, and the voltage amplitude is 140 Vpp.

[0023] Preferably, in the jumping forward excitation method of the small multi-degree-of-freedom piezoelectric robot array, the excitation voltage signal is a half-sine wave voltage signal, the frequency is the high-order natural frequency of the small multi-degree-of-freedom piezoelectric robot array, 880 Hz, and the voltage amplitude is 140 Vpp.

[0024] Beneficial effects of the present invention:

[0025] (1) The present invention proposes a miniature multi-degree-of-freedom piezoelectric crawling robot array, which obtains high structural rigidity and high operating stability by connecting two groups of "N"-shaped piezoelectric robots in parallel. It has the characteristics of small size, light weight, simple assembly and rapid response.

[0026] (2) The excitation method proposed in the present invention realizes the single-degree-of-freedom straight movement of the robot array based on the inverse piezoelectric effect and the anchoring effect. By controlling the application object of the driving voltage, the spatial balance of the resultant force is broken to realize the rotational movement of the robot array. By changing the electrical signal frequency of the driving voltage, the motion mode of the robot array is changed to realize the jumping forward movement of the robot array, which provides a feasible direction for the application and research of micro crawling robots. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the specific embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0028] Figure 1 It is a schematic diagram of the three-dimensional structure of a small multi-degree-of-freedom piezoelectric robot array provided by the present invention;

[0029] Figure 2 It is a schematic diagram of the driving scheme of the single-degree-of-freedom linear motion of the "N"-shaped piezoelectric robot provided by the present invention, wherein x0 is the initial position of the left end of the "N"-shaped piezoelectric robot, f0 and f1 are the static friction forces on the left and right ends of the "N"-shaped piezoelectric robot when it is stationary, move is the moving direction of the "N"-shaped piezoelectric robot, x1 is the position of the left end of the "N"-shaped piezoelectric robot after one electrical signal cycle, d is the single-step displacement of the "N"-shaped piezoelectric robot in one electrical signal cycle, Umax is the peak value of the PWM wave signal, T is the period of the PWM wave signal, t1 is the rising point of the voltage signal, and t2 is the falling point of the voltage signal;

[0030] Figure 3 It is a driving voltage signal diagram of the small multi-degree-of-freedom piezoelectric robot array provided by the present invention, wherein the excitation voltage rises from 0V to a peak value in the time period from 0 to t1, Umax is the peak value of the excitation voltage, and the excitation voltage drops from the peak value to 0V in the time period from t1 to t2, and the voltage signal is a half-wave sinusoidal voltage signal;

[0031] Figure 4 (1) is a wiring diagram of the linear motion of a small multi-degree-of-freedom piezoelectric robot array provided by the present invention; Figure 4 (2) is a schematic diagram of the linear motion deformation of a small multi-degree-of-freedom piezoelectric robot array provided by the present invention;

[0032] Figure 5 (1) is a wiring diagram of the rotational motion of a small multi-degree-of-freedom piezoelectric robot array provided by the present invention; Figure 5 (2) is a schematic diagram of the rotational motion deformation of a small multi-degree-of-freedom piezoelectric robot array provided by the present invention;

[0033] Figure numerals: “N” shaped piezoelectric robot 1, 2; connectors 3, 4; base bodies 1-1, 2-1; driving elements 1-2, 1-3, 2-2, 2-3. DETAILED DESCRIPTION

[0034] The present invention will be further described in detail below in conjunction with specific implementations and with reference to the accompanying drawings. It should be emphasized that the following description is merely exemplary and is not intended to limit the scope of the present invention and its application.

[0035] This example discloses a micro multi-degree-of-freedom piezoelectric crawling robot array and a driving method thereof.

[0036] like Figure 1 As shown, the present invention includes two groups of "N"-shaped piezoelectric robots 1, 2 and two connecting parts 3, 4; the two groups of "N"-shaped piezoelectric robots have exactly the same structure and are connected in parallel by two connecting parts 3, 4. The "N"-shaped piezoelectric robot structure includes a substrate 1-1, 2-1 and driving elements 1-2, 1-3, 2-2, 2-3, the driving elements 1-2, 2-2 are pasted on the upper surface of the bevel of the substrate 1-1, 2-1, and the driving elements 1-3, 2-3 are pasted on the lower surface of the bevel of the substrate 1-1, 2-1; when the driving elements 1-2, 1-3, 2-2, 2-3 are excited by the same voltage signal, their deformation directions are opposite, driving the substrate 1-1, 1-2 to realize lifting and falling actions.

[0037] The angle between the substrates 1-1 and 2-1 is 30°, the material is brass, the thickness is 0.2mm, the vertical side length is 30mm, and the hypotenuse length is 34.64mm; the driving elements 1-2, 1-3, 2-2, and 2-3 are made of PZT-5H, have a length of 30mm, and a thickness of 0.2mm, and are glued to the upper and lower surfaces of the hypotenuse of the substrates 1-1 and 2-1 with epoxy resin conductive adhesive.

[0038] The driving elements 1-2, 1-3, 2-2, and 2-3 are stimulated by synchronous rising voltage signals, and the left ends of the hypotenuses of the substrates 1-1 and 2-1 are lifted to the upper left and the right ends are pressed to the lower right; the resultant force of each group of "N"-shaped piezoelectric robots 1 and 2 along the horizontal direction of the contact surface is not zero.

[0039] The number of "N"-shaped piezoelectric robots 1 and 2 connected in parallel is 1 or 2. When the number is 1, linear motion is achieved based on the anchoring principle; when the number is 2, the "N"-shaped piezoelectric robots 1 and 2 are connected in parallel through connectors 3 and 4, and single-degree-of-freedom straight motion is achieved based on the anchoring principle, rotational motion is achieved by controlling the object to which the excitation voltage is applied, and jumping forward is achieved by changing the frequency of the excitation voltage.

[0040] like Figure 2 As shown, the "N"-shaped piezoelectric robot 1 undergoes periodic deformation under the periodic PWM voltage drive, and undergoes three working steps in one driving voltage cycle. In the above movement, the "N"-shaped piezoelectric robot realizes horizontal straight movement including the following steps:

[0041] Step 1: Figure 2 As shown in (1), at time t=0, the PWM voltage is 0V, and the "N"-shaped piezoelectric robot 1 is in the initial state, without deformation or forward movement.

[0042] Step 2: Figure 2 As shown in (2), the voltage rises rapidly, the driving element 1-2 shortens along the central axis of the hypotenuse of the substrate 1-1, and the driving element 1-3 extends along the central axis of the hypotenuse of the substrate 1-1. The substrate 1-1 is bent and deformed. The left end of the "N"-shaped piezoelectric robot 1 is lifted to the upper left and the horizontal position is recorded as x0, the friction force f0 = 0, and the right end is pressed down to the lower right to form an anchor point, and the friction force f1>f0.

[0043] Step 3: Figure 2 As shown in (3), the voltage drops rapidly, the driving elements 1-2 and 1-3 return to their original shapes, the substrate recovers its deformation, the left end of the substrate 1-1 falls to a position x1, the friction force f0>0, and the right end of the substrate 1-1 moves forward a distance x1.

[0044] Step 4: The movement distance of the “N”-shaped piezoelectric robot 1 in one voltage cycle is d=x1-x0. Repeating steps 1 to 3 can achieve horizontal straight movement.

[0045] In the above-mentioned movement, the horizontal straight movement of the micro multi-degree-of-freedom piezoelectric crawling robot array is realized, which includes the following steps:

[0046] Step 5: Figure 3 The figure shows the half-sine wave voltage signal emitted by the signal generator. The voltage signal is amplified by the power amplifier and output to the driving elements 1-2, 1-3, 2-2, and 2-3 of the "N"-shaped piezoelectric robots 1 and 2. Figure 4 As shown in (1), the driving elements 1-2, 1-3, 2-2, and 2-3 are connected to the positive output terminal of the power amplifier, and the connector 4 is connected to the negative output terminal of the power amplifier.

[0047] Step 6: When the voltage signal rises from 0V to the peak value, the driving elements 1-2 and 2-2 on the upper surface of the hypotenuse of the substrate 1-1 and 2-1 extend along the central axis of the hypotenuse, and the driving elements 1-3 and 2-3 on the lower surface of the hypotenuse of the substrate 1-1 and 2-1 shorten along the central axis of the hypotenuse. The substrate 1-1 and 2-1 bends and deforms, with the left end lifted to the upper left and the right end pressed to the lower right to form an anchor point. The deformation diagram is shown in FIG. Figure 4 (2) as shown.

[0048] Step 7: When the voltage signal drops from the peak value to 0V, the driving elements 1-2, 1-3, 2-2, and 2-3 resume deformation, the left ends of the substrates 1-1 and 2-1 fall, and the right ends move to the left in a single step.

[0049] Step 8: Repeat steps 6 and 7 to drive the small multi-degree-of-freedom piezoelectric robot array to move linearly in the horizontal direction.

[0050] In the above-mentioned movement, realizing the turning movement of the micro multi-degree-of-freedom piezoelectric crawling robot array includes the following steps:

[0051] Step 9: Figure 5 As shown in (1), the positive output terminal of the power amplifier is connected to the driving elements 1-2 and 1-3 of the "N"-shaped piezoelectric robot 1, and the negative output terminal is connected to the connector 4. When the voltage signal rises from 0V to the peak value, the driving element 1-3 on the upper surface of the hypotenuse of the substrate 1-1 is extended along the central axis of the hypotenuse, and the driving element 1-2 on the lower surface of the hypotenuse of the substrate 1-1 is shortened along the central axis of the hypotenuse. The substrate 1-1 is bent and deformed, and the substrate 2-1 does not deform, breaking the mechanical balance, and the resultant force is in the deflection direction.

[0052] Step 10: When the voltage signal drops from the peak value to 0V, the driving elements 1-2 and 1-3 recover their deformation, and the substrate 1-1 drives the substrate 2-1 to deflect by a single step angle. The deformation diagram is shown in FIG. Figure 5 (2) as shown.

[0053] Step 11: Repeat steps 9 and 10 to drive the small multi-degree-of-freedom piezoelectric robot array to perform rotational motion.

[0054] In the above-mentioned movement, the following steps are included to realize the jumping movement of the micro multi-degree-of-freedom piezoelectric crawling robot array:

[0055] Step 12: At high-order natural frequencies, the small multi-degree-of-freedom piezoelectric robot array performs vertical jumping motion. Adjusting the frequency of the excitation voltage signal can drive the small multi-degree-of-freedom piezoelectric robot array to perform jumping forward motion.

[0056] The above is a detailed introduction to the principle and implementation of a micro multi-degree-of-freedom piezoelectric crawling robot array and its driving method proposed by the present invention. This specific implementation is only an explanation of the present invention, and it is not a limitation of the present invention. After reading this specification, those skilled in the art can make creative contributions and modifications to this implementation as needed, but as long as it is within the scope of the claims of the present invention, it is protected by the patent law.

Claims

1. A small multi-degree-of-freedom piezoelectric robot array, characterized in that: The invention comprises two groups of "N"-shaped piezoelectric robots (1, 2) and two connecting members (3, 4); the two groups of "N"-shaped piezoelectric robots have completely the same structure and are connected in parallel by two connecting members (3, 4); the two groups of "N"-shaped piezoelectric robots comprise two base bodies (1-1, 2-1) and four driving elements (1-2, 1-3, 2-2, 2-3); the driving elements (1-2, 2-2) are pasted on the upper surface of the bevel of the base bodies (1-1, 2-1); the driving elements (1-3, 2-3) are pasted on the lower surface of the bevel of the base bodies (1-1, 2-1); when the driving elements (1-2, 1-3, 2-2, 2-3) are excited by the same voltage signal, their deformation directions are opposite, and the driving base bodies (1-1, 2-1) are driven to realize lifting and falling actions.

2. The small multi-degree-of-freedom piezoelectric robot array according to claim 1, characterized in that: The included angle of the base bodies (1-1, 2-1) of each group of "N"-shaped piezoelectric robots (1, 2) is 30°, the base body material is brass, the thickness is 0.2 mm, the vertical side length is 30 mm, and the hypotenuse length is 34.64 mm.

3. The small multi-degree-of-freedom piezoelectric robot array according to claim 1, characterized in that: The driving elements (1-2, 1-3, 2-2, 2-3) of the "N"-shaped piezoelectric robot (1, 2) are made of PZT-5H, have a length of 30 mm, and a thickness of 0.2 mm, and are adhered to the upper and lower surfaces of the bevel of the substrate (1-1, 2-1) using epoxy resin conductive adhesive.

4. The small multi-degree-of-freedom piezoelectric robot array according to claim 1, characterized in that: When the driving elements (1-2, 1-3, 2-2, 2-3) of the "N"-shaped piezoelectric robots (1, 2) are stimulated by synchronously rising voltage signals, the left end of the hypotenuse of the base (1-1, 2-1) is lifted to the upper left, and the right end is pressed to the lower right; the resultant force of each group of "N"-shaped piezoelectric robots (1, 2) in the horizontal direction of the contact surface is not zero.

5. The small multi-degree-of-freedom piezoelectric robot array according to claim 1, characterized in that: The number of "N"-shaped piezoelectric robots (1, 2) connected in parallel is 1 or 2. When the number is 1, linear motion is achieved based on the anchoring principle. When the number is 2, the "N"-shaped piezoelectric robots (1, 2) are connected in parallel via connectors (3, 4). The connectors (3, 4) and the base (1, 2) are integrally formed. Single-degree-of-freedom linear motion is achieved based on the anchoring principle. Rotational motion is achieved by controlling the excitation voltage application object. Jumping forward motion is achieved by changing the excitation voltage frequency.

6. A driving method for a small multi-degree-of-freedom piezoelectric robot array according to claims 1-5, characterized in that: The driving method can enable the robot array to achieve straight-moving, turning and jumping movements on the contact surface. In the above-mentioned movement, the horizontal straight movement is realized, which includes the following steps: Step 1: A signal generator sends an excitation voltage signal of a fixed frequency, and the voltage signal is amplified by a power amplifier and then output to the driving elements (1-2, 1-3, 2-2, 2-3) of the "N"-shaped piezoelectric robot (1, 2). Step 2: When the voltage signal rises from 0V to a peak value, the driving elements (1-2, 2-2) on the upper surface of the hypotenuse of the base (1-1, 2-1) of the "N"-shaped piezoelectric robot (1, 2) extend along the central axis of the hypotenuse, and the driving elements (1-3, 2-3) on the lower surface of the hypotenuse of the base (1-1, 2-1) shorten along the central axis of the hypotenuse, and the base (1-1, 2-1) bends and deforms, with the left end lifted to the upper left and the right end pressed down to the lower right to form an anchor point. Step 3: When the voltage signal drops from the peak value to 0V, the driving elements (1-2, 1-3, 2-2, 2-3) of the "N"-shaped piezoelectric robot (1, 2) resume deformation, the left end of the base (1-1, 2-1) falls, and the right end moves to the left in a single step. Step 4: Repeat steps 2 to 3 to drive the small multi-degree-of-freedom piezoelectric robot array to move linearly in the horizontal direction. In the above-mentioned movement, realizing the turning movement includes the following steps: Step 5: The driving elements (1-2, 1-3) of the "N"-shaped piezoelectric robot (1) are excited by voltage. When the voltage signal rises from 0V to a peak value, the driving element (1-3) on the upper surface of the hypotenuse of the substrate (1-1) is extended along the central axis of the hypotenuse, and the driving element (1-2) on the lower surface of the hypotenuse of the substrate (1-1) is shortened along the central axis of the hypotenuse. The substrate (1-1) is bent and deformed, while the substrate (2-1) is not deformed, thus breaking the mechanical balance and causing deflection along the direction of the resultant force. Step 6: When the voltage signal drops from the peak value to 0V, the driving elements (1-2, 1-3) of the "N"-shaped piezoelectric robot (1) resume deformation, and the base (1-1) drives the base (2-1) to deflect by a single-step angle. Step 7: Repeat steps 5 to 6 to drive the small multi-degree-of-freedom piezoelectric robot array to perform rotational motion. In the above-mentioned movement, the implementation of the jumping forward movement includes the following steps: Step 8. At high-order natural frequencies, the small multi-degree-of-freedom piezoelectric robot array performs vertical jumping motion. Adjusting the frequency of the excitation voltage signal can drive the small multi-degree-of-freedom piezoelectric robot array to perform jumping forward motion.

7. The driving method according to claim 6, characterized in that: The excitation method for the small multi-degree-of-freedom piezoelectric robot array to move straight and turn, the excitation voltage signal is a half-sine wave voltage signal, the frequency is the first-order natural frequency of the small multi-degree-of-freedom piezoelectric robot array, 83Hz, and the voltage amplitude is 140Vpp.

8. The driving method according to claim 6, characterized in that: The excitation method for the jumping of the small multi-degree-of-freedom piezoelectric robot array is that the excitation voltage signal is a half-sine wave voltage signal, the frequency is the high-order natural frequency of the small multi-degree-of-freedom piezoelectric robot array, 880 Hz, and the voltage amplitude is 140 Vpp.

9. The driving method according to claim 6, characterized in that: The driving method of the small multi-degree-of-freedom piezoelectric robot array excites the base body (1-1, 2-1) to deform by means of a voltage signal, and forms anchor points alternately on the left and right sides to realize forward movement.

10. The driving method according to claim 6, characterized in that: The driving method of the small multi-degree-of-freedom piezoelectric robot array changes the excitation voltage signal application target, breaks the mechanical equilibrium state of the "N"-shaped piezoelectric robots (1, 2), adjusts the driving force direction, realizes rotational motion, and realizes jumping forward by changing the excitation voltage signal frequency.

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