A miniature mobile platform with a pseudo-bipedal structure and its driving and control method

Abstract

This invention discloses a miniature mobile platform with a pseudo-bipedal structure and its driving and control method, relating to the field of microstructure systems. The mobile platform includes: an actuating leg, a fixed-point sleeve, a support frame, and a top plate. The fixed-point sleeve is disposed outside the actuating leg and connected to the top plate via the support frame. The actuating leg includes an actuating leg body, a piezoelectric ceramic ring, an actuating leg connecting rod, and an actuating leg foot end. The actuating leg body is connected to the actuating leg connecting rod, and several piezoelectric ceramic rings are stacked in parallel at the connection between the actuating leg body and the actuating leg connecting rod. The other end of the actuating leg connecting rod is connected to the actuating leg foot end. This invention achieves an integrated design of driving, load-bearing, and guiding of the miniature mobile platform through a stacked piezoelectric actuation unit and a sophisticated lever-flexible hinge composite structure.

Description

Technical Field

[0001] This invention relates to the field of microstructure systems, and more particularly to a micro mobile platform with a pseudo-bipedal structure and its driving and control method. Background Technology

[0002] The statements in this section are merely background information related to the present invention and do not necessarily constitute prior art.

[0003] Miniature mobile platforms, due to their small size, light weight, and agile movement, have been widely researched and applied in the high-end equipment manufacturing industry. With the development of intelligent manufacturing equipment, many functional drive components have been proposed to construct miniature mobile systems. Compared with other drive components, stacked piezoelectric drive components have advantages such as compact structure, high power density, fast response, high resolution, and no electromagnetic interference, making them an important drive method for miniature mobile platforms. This has enabled miniature piezoelectric miniature mobile platforms to show broad application prospects in many fields such as bioengineering, military reconnaissance, energy detection, and micromanipulation.

[0004] To adapt to diverse operational needs, the research community has proposed various configurations of piezoelectric micro-mobile platforms: one type achieves planar movement through a push-pull mechanical structure, utilizing the reciprocating bending deformation of piezoelectric elements under voltage excitation to generate asymmetric foot-ground interaction, thereby forming directional displacement. However, the thrust density output by traditional single-layer piezoelectric ceramics is low, resulting in limited acceleration capabilities. Another type adopts a three- or multi-leg planar layout, combining inertial excitation and resonant excitation, using a ring array of driving legs to achieve multi-degree-of-freedom motion in the plane. However, the force output by using single-layer piezoelectric ceramics is limited, failing to guarantee a high load-bearing ratio, and limiting application scenarios. Another approach introduces a ring-shaped elastic matrix, exciting multiple bending modes under specific electrical signal excitation, causing the driving legs to trace oblique straight lines or elliptical trajectories, thus completing a composite motion of linear and rotational movements. Although a single actuator has high-precision output capabilities, the overall motion stroke is small due to the microscopic deformation characteristics of piezoelectric materials, making it difficult to meet long-distance displacement requirements.

[0005] Therefore, existing piezoelectric mobile platforms are still generally limited by their structural form, making it difficult to simultaneously achieve the three core indicators of "high mobility, long stroke, and high load capacity," thus limiting their application scope. While traditional bending modes offer fast response and large displacement, they suffer from insufficient thrust output and load capacity. Solutions relying on single-layer piezoelectric sheets or simple cantilever beams face problems such as limited driving force and displacement, high driving voltage, and high system costs.

[0006] In summary, how to simultaneously meet the drive, travel, and load requirements of micro-mobile platforms under reasonable cost conditions has become an urgent problem to be solved by existing technologies. Summary of the Invention

[0007] To address the shortcomings of existing technologies, the purpose of this invention is to provide a micro-mobile platform with a pseudo-bipedal structure and its driving and control method. A pseudo-bipedal piezoelectric micro-mobile platform is designed, and the integrated design of driving, bearing and guiding of the micro-mobile platform is realized through a stacked piezoelectric actuation unit and a sophisticated lever-flexible hinge composite structure.

[0008] To achieve the above objectives, the present invention is implemented through the following technical solution:

[0009] The first aspect of the present invention provides a miniature mobile platform with a pseudo-bipedal structure, comprising: an actuating leg, a fixed-point sleeve, a support frame, and a top plate. The fixed-point sleeve is disposed outside the actuating leg and is connected to the top plate through the support frame. The actuating leg includes an actuating leg body, a piezoelectric ceramic ring, an actuating leg connecting rod, and an actuating leg foot end. The actuating leg body is connected to the actuating leg connecting rod. Several piezoelectric ceramic rings are stacked in parallel at the connection between the actuating leg body and the actuating leg connecting rod. The other end of the actuating leg connecting rod is connected to the actuating leg foot end.

[0010] Furthermore, the upper end of the actuating leg connecting rod is set in a hexagonal prism shape, and the fixed point sleeve has an opening that matches the upper end of the actuating leg connecting rod. The fixed point sleeve is tightly pressed and fixed to the upper end of the actuating leg connecting rod through the opening.

[0011] Furthermore, the lower end of the support frame is provided with a lower through hole. The fixed point sleeve is connected to the support frame through a retaining ring. The retaining ring includes a retaining ring screw and a retaining ring through hole. The retaining ring screw passes through the retaining ring through hole and the lower through hole of the support frame to fasten the fixed point sleeve between the support frame and the retaining ring.

[0012] Furthermore, the clamping degree of the retaining ring and support frame on the fixed point sleeve is adjusted by the retaining ring screw.

[0013] Furthermore, the upper end of the support frame is provided with a through hole, and the lower surface of the top plate is provided with a square groove corresponding to the upper end of the support frame. The side of the square groove is provided with a through hole of the top plate. The upper end of the support frame is installed in the square groove, and the support frame is connected to the top plate by means of a screw passing through the through hole of the top plate and the through hole of the support frame.

[0014] Furthermore, the input signal to the piezoelectric ceramic ring is generated by an external signal generator, amplified by a power amplifier, and then input into the piezoelectric ceramic ring.

[0015] Furthermore, the end of the actuating leg that contacts the ground is equipped with a front claw. When the actuating leg retracts as a whole, the front claw opens, and when the actuating leg extends as a whole, the front claw closes.

[0016] Furthermore, a counterweight is attached to the rear side of the top plate to balance the center of gravity.

[0017] Furthermore, the top surface of the plate has grooves of different shapes for holding heavy objects.

[0018] The second aspect of this invention provides a driving and control method for a micro mobile platform with a pseudo-bipedal structure, comprising the following steps:

[0019] A drive signal is input to the piezoelectric ceramic ring according to the control command;

[0020] Stacked piezoelectric ceramic rings excite the tensile mode of the actuator leg;

[0021] Based on the extension mode of the actuated leg, the foot end of the actuated leg provides the force for gripping and moving forward, thus enabling the mobile platform to move in a straight line;

[0022] The turning of the mobile platform is achieved by adjusting the magnitude of the input drive signals to its two actuating legs.

[0023] The above one or more technical solutions have the following beneficial effects:

[0024] This invention discloses a miniature mobile platform with a quasi-bipedal structure and its driving and control method. Addressing the problems of low speed, low load capacity, and over-reliance on the performance of single actuators in traditional piezoelectric mobile platforms, this invention designs a multi-layered ceramic parallel-connected actuating leg for the mobile platform. Through piezoelectric stacking, the displacement per drive is significantly increased. The invention's actuating leg end structure, which provides ground-pulling forward force during vibration, converts the force output from the stacked piezoelectric ceramics into horizontal forward propulsion, ensuring the mobile platform possesses high acceleration. Furthermore, this invention utilizes the force output from the stacked piezoelectric ceramics by designing a support structure that clamps the platform at a fixed point while maintaining certain rotational conditions.

[0025] The mobile platform of this invention utilizes the high power density characteristics of piezoelectric stacking to convert microscopic stretching into macroscopic stepping motion, generating continuous propulsion through the alternating lifting and lowering of its two feet. In some embodiments, this mobile platform can output significant no-load and loaded speeds without the need for external amplification mechanisms, with a load capacity more than ten times its own mass. Its overall motion performance is significantly superior to traditional patch resonant micro-mobile platforms, providing a new technical path for the large-scale application of piezoelectric-driven micro-mobile platforms in real-world scenarios.

[0026] Advantages of additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0027] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0028] Figure 1 This is a structural diagram of a micro mobile platform with a pseudo-bipedal structure in Embodiment 1 of the present invention;

[0029] Figure 2 This is a structural diagram of the actuating leg in Embodiment 1 of the present invention;

[0030] Figure 3 This is a side view of the micro mobile platform in Embodiment 1 of the present invention;

[0031] Figure 4 This is a modal simulation diagram of the actuating leg of the mobile platform in Embodiment 1 of the present invention;

[0032] Among them, 1. Actuating leg, 2. Fixed point sleeve, 3. Support frame, 4. Top plate, 5. Actuating leg body, 6. Piezoelectric ceramic ring, 7. Actuating leg connecting rod, 8. Actuating leg foot end, 9. Upper through hole of support frame, 10. Lower through hole of support frame, 11. Snap ring, 12. Snap ring screw, 13. Snap ring through hole, 14. Top plate screw, 15. Top plate through hole, 16. Square groove, 17. Counterweight. Detailed Implementation

[0033] It should be noted that the following detailed descriptions are exemplary and intended to provide further illustration of the invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0034] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0035] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0036] Example 1:

[0037] Embodiment 1 of the present invention provides a miniature mobile platform with a pseudo-bipedal structure, such as Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, the system includes: an actuating leg 1, a fixed-point sleeve 2, a support frame 3, and a top plate 4. The fixed-point sleeve 2 is installed outside the actuating leg 1, and the fixed-point sleeve 2 is connected to the top plate 4 through the support frame 3. To ensure that the force generated by vibration is large enough, the actuating leg body, actuating leg connecting rod, and actuating leg foot end in the actuating leg 1 are made of metal, the piezoelectric ceramic ring is made of ceramic, and the remaining parts are made of polylactic acid to reduce the overall weight of the moving platform. Among them, the actuating leg body and actuating leg connecting rod are made of stainless steel, which can efficiently transmit vibration energy. The actuating leg foot end is made of aluminum alloy to minimize the influence of the actuating leg foot end on vibration parameters while ensuring vibration performance.

[0038] In one specific implementation, such as Figure 2 As shown, the actuating leg 1 includes an actuating leg body 5, a piezoelectric ceramic ring 6, an actuating leg connecting rod 7, and an actuating leg foot 8. The actuating leg body 5 is connected to the actuating leg connecting rod 7. Several piezoelectric ceramic rings 6 are stacked in parallel at the connection between the actuating leg body 5 and the actuating leg connecting rod 7. The other end of the actuating leg connecting rod 7 is connected to the actuating leg foot 8. The actuating leg connecting rod 7 and the actuating leg body 5 are screwed together. After tightening, the piezoelectric ceramic ring 6 is secured between the two. The actuating leg foot 8 is screwed onto the actuating leg connecting rod 7 via threads.

[0039] like Figure 2 As shown, the actuating leg foot end 8 is triangular prism in shape, with two protrusions on one side, as... Figure 3 As shown, the side view shape is a right triangle with two protrusions on the hypotenuse. The two protrusions form the front claw at the end of the actuating leg. The front claw ensures that each actuating leg is in line contact with the horizontal plane. The two lines define a plane. When the two lines of the front claw are in contact with the ground, the mobile platform can be guaranteed to stand on the ground. Then, the overall center of gravity of the mobile platform is adjusted by the counterweight, thereby ensuring the stability of the mobile platform during movement.

[0040] The uppermost end of the actuating leg connecting rod 7 is a threaded cylinder with the same diameter as the outer diameter of the piezoelectric ceramic ring, to fully transmit the vibration generated by the piezoelectric ceramic ring. Below the ring is a hexagonal prism. The hexagonal prism is designed to facilitate locking the position of the fixed point sleeve 2 and the actuating leg after they are fitted together. A long cylindrical rod is connected to the hexagonal prism for transmitting vibration. The lower end of this cylindrical rod has a threaded post for screwing into the foot end 8 of the actuating leg. Figure 3As shown, the fixed-point sleeve 2 is a cylinder with a hexagonal hole and a central annular protrusion. Its length is slightly shorter than the hexagonal prism, and its opening matches the upper hexagonal prism of the actuator leg connecting rod 7, being slightly smaller than the base of the hexagonal prism. Its main function is to connect the support frame and ensure the actuator leg has a certain degree of rotation. Because its material is polylactic acid, it has a certain degree of ductility, allowing the fixed-point sleeve 2 to be fitted and fixed onto the upper hexagonal prism of the actuator leg connecting rod 7 through its opening. After being tightly fitted onto the hexagonal prism, its outer annular protrusion can be inserted into the semi-circular groove of the retaining ring 11 and the semi-circular groove at the lower end of the support frame 3. The clamping tightness of the retaining ring 11 and the support frame 3 on the fixed-point sleeve can be adjusted by adjusting the retaining ring screw 12. After appropriate adjustment, the actuator leg has a certain degree of rotation. After the moving platform is naturally laid flat, the actuator leg will rotate to a suitable angle to ensure that the front claws of both actuator legs can touch the ground.

[0041] Due to the limited force output of existing single-layer piezoelectric ceramic driving methods, directly increasing the number of piezoelectric ceramic sheets would first affect material parameters, and secondly, under a fixed power condition, would actually reduce the voltage of each ceramic sheet, ultimately resulting in a driving force output similar to that of a single sheet. However, to maintain a constant voltage for each piezoelectric ceramic sheet, the power needs to be continuously increased; therefore, the design process requires a balance between power and driving force. Thus, in this embodiment, four piezoelectric ceramic rings 6 are connected in parallel. This ensures sufficient power without excessively increasing the overall size, and the stationary point is controlled at the hexagonal prism position of the actuating leg connecting rod. The input signal to the piezoelectric ceramic rings is generated by an external signal generator, amplified by a power amplifier, and then input into the piezoelectric ceramic rings. The piezoelectric ceramic rings convert the electrical signal into mechanical vibration through the inverse piezoelectric effect, with the vibration frequency matching the electrical signal frequency. The vibration generated by the piezoelectric ceramic acts directly on the actuator leg body and the actuator leg connecting rod. The actuator leg body has a large mass and a small vibration displacement, while the mass of the actuator leg connecting rod gradually decreases from top to bottom. When it reaches the bottom of the actuator leg connecting rod, the vibration displacement is larger. At this time, the vibration at the bottom of the actuator leg connecting rod is further transmitted to the actuator leg foot end. The actuator leg foot end contacts the ground and converts the force generated by the vibration into a force that propels the moving platform forward.

[0042] The modal simulation diagram of the actuating leg of the stacked piezoelectric moving platform in this embodiment is as follows: Figure 4As shown, this embodiment first clarifies the tensile mode of the actuated leg using stacked piezoelectric ceramic rings. Then, by adjusting the driving frequency of the piezoelectric ceramics (modal simulation at 24.7kHz), the first-order tensile mode of the actuated leg is excited, i.e., the vibration state in which the actuated leg structure is stretched or contracted axially to both sides with only one fixed point as the origin. Under the action of this vibration mode, the foot end of the actuated leg can be regarded as a lever-flexible hinge structure, which plays a role in amplifying the displacement. When the rest of the actuated leg structure except the foot end contracts towards the fixed point, the side of the foot end far from the forepaw, due to its large mass, experiences a contraction. The vibration displacement is small and can be regarded as a fulcrum. The forepaw at the foot amplifies the inward contraction displacement of the end of the connecting rod of the driving leg. Since the displacement is greater closer to the tip of the foot, and the forepaw is composed of two small triangular protrusions, the displacement of the triangle closer to the front is greater, so the forepaw opens. Similarly, when the other structures of the driving leg except the foot are stretched outward from the stationary point, the side of the foot far from the forepaw can be regarded as a fulcrum. The forepaw at the foot amplifies the outward stretching displacement of the end of the connecting rod of the driving leg. The forepaw at the foot is composed of two triangular protrusions, and the displacement of the triangle closer to the front is greater, so the forepaw tightens.

[0043] The structural design of the actuator leg's foot end is to convert the force output by the piezoelectric ceramic into a horizontal force. The specific process is as follows: When the piezoelectric ceramic ring drives the actuator leg to extend, the rear triangular protrusion in the front claw pushes the force transmitted from the actuator leg connecting rod towards the ground at a 30° angle with the horizontal plane. Under the action of friction, the moving platform tends to move forward. At the same time, the front claw tightens during this stage, providing the actuator leg with a force that pulls it forward. Thus, the actuator leg moves forward in the horizontal direction, and the moving platform moves forward. Then, when the piezoelectric ceramic ring drives the actuator leg to retract, the friction between the actuator leg and the ground decreases. Under the action of inertia, the actuator leg continues to move forward, and due to the decrease in friction, it can still maintain a high forward displacement speed. Thus, the force generated by the vibration of the piezoelectric ceramic is converted from a backward-angled force into the power to propel the moving platform horizontally.

[0044] In one specific embodiment, the support frame 3 consists of two cylinders connected at a 150° angle. This is to connect the actuating leg to the top plate, ensuring the top plate is parallel to the ground. The lower cylinder has a slightly larger diameter, and its end is connected to a truncated pyramid structure with a semi-circular groove and a lower through hole 10 of the support frame. It also has a matching retaining ring with a semi-circular groove, used to fix the actuating leg while maintaining a certain axial rotation capability. The upper cylinder is connected to a cuboid structure with two upper through holes 9 of the support frame, used to connect to the top plate and maintain a certain ability for the actuating leg to rotate around a vertical and lateral straight line. The overall function of the support frame can be summarized as providing rotational conditions, ensuring that the feet of the actuating leg can touch the ground, and connecting to a top plate parallel to the ground for holding the load. The fixed-point sleeve 2 is embedded in the retaining ring 11 and the semi-circular groove at the lower end of the support frame 3 through the outer protruding ring. The retaining ring 11 includes a retaining ring screw 12 and a retaining ring through hole 13. The retaining ring screw 12 passes through the retaining ring through hole 13 and the lower through hole 10 of the support frame to fasten the fixed-point sleeve 2 between the support frame 3 and the retaining ring 11. The clamping degree of the retaining ring 11 and the support frame 3 on the fixed-point sleeve 2 is adjusted by the retaining ring screw 12. With an appropriate tightness, the actuator leg retains a certain rotational ability around the axis, and when naturally laid flat, it can ensure that the feet of both actuator legs can touch the ground. After experimental adjustment, when the feet of the actuator legs touch the ground at four points, the angle between the actuator leg and the ground is 30°. At this angle, the forward acceleration and load capacity of the mobile platform can be balanced, ultimately giving the mobile platform the characteristics of high acceleration, high load ratio, and long stroke.

[0045] The upper end of the support frame has a cuboid structure with two through holes 9. The lower surface of the top plate 4 has a square groove 16 corresponding to the upper end of the support frame. The side of the square groove 16 has a top plate through hole 15. The cuboid structure at the upper end of the support frame is embedded in the square groove 16. The support frame 3 and the top plate 4 are connected by a top plate screw 14 passing through the top plate through hole 15 and the upper through hole 9 of the support frame. Specifically, the support frame is aligned and placed into the square groove of the top plate. After aligning the upper through hole of the support frame with the upper through hole of the top plate, the support frame and the top plate are fixed with the top plate screw 14. The tightness of the screw can be adjusted to ensure that the feet of both actuating legs can touch the ground.

[0046] A counterweight 17 is attached to the rear side of the top plate 4 to balance the center of gravity and ensure the stability of the moving platform. Different shaped grooves are carved into the upper surface of the top plate to hold heavy objects. Because the stacked piezoelectric sheets provide sufficient thrust, the platform can maintain a high speed even under load. In this embodiment, the heavy objects can be weights.

[0047] The working principle of the mobile platform in this embodiment is as follows: a drive signal is input to the piezoelectric ceramic ring according to the control command.

[0048] Stacked piezoelectric ceramic rings excite the stretching mode of the actuated legs. Based on the stretching mode of the actuated legs, the foot ends of the actuated legs provide a force for gripping and moving forward, enabling the mobile platform to travel in a straight line. By adjusting the magnitude of the input drive signals to the two actuated legs of the mobile platform, left and right turns can be achieved.

[0049] This embodiment uses a four-layer piezoelectric ceramic stack to excite the vibration modes of the actuated leg. Through modal simulation and frequency modulation experiments, the first-order tensile mode of the actuated leg was found at 24.7kHz, and the fixed point position was initially determined. Then, the vibration velocity distribution of the actuator was measured using a laser vibrometer to determine the fixed point position of the actuated leg, i.e., the region where the vibration velocity is zero. Based on the fixed point position, a support structure was designed. Specifically, firstly, a structure was designed to hold the fixed point of the actuated leg, while also ensuring that the actuated leg can still rotate around its axial direction. Secondly, this holding structure was extended upwards, ensuring that the center of gravity is close to the foot of the actuated leg, and a structure was designed to connect to the platform. This structure also ensures that the actuated leg can rotate slightly around an axis perpendicular to its side. These two rotational conditions ensure that both feet can touch the ground when the moving platform is naturally placed flat. In addition, since the support frame is always held at the fixed point of the actuated leg, applying a load to the support frame will not affect the vibration of the piezoelectric ceramic due to the inverse piezoelectric effect. The force generated by the vibration of the piezoelectric ceramic is converted into a force that propels the moving platform horizontally forward through the actuated leg structure. With the support structure in place, the tightness of each connection can be adjusted by screws, ensuring that the two actuating legs of the mobile platform can touch the ground, effectively maintaining balance and ensuring that the force generated by the piezoelectric ceramic vibration is not wasted due to the feet being suspended in the air. The design of the support frame clamping point as a fixed point ensures that the application of load will not affect the vibration of the piezoelectric ceramic, and can make full use of the force generated by the vibration of the piezoelectric ceramic to propel the mobile platform forward horizontally.

[0050] This embodiment designs a pseudo-bipedal micro-mobile platform based on piezoelectric stacking actuation, and fabricates a 90×80×66mm micro-mobile platform. 3 The prototype mobile platform can move along its length. At 200V and 24.7kHz, the platform outputs a maximum no-load speed of 0.47m / s and a maximum load speed of 0.27m / s.

[0051] Its load capacity (1000g, approximately 10.2 times its own weight) exceeds the motion performance of most traditional patch resonant micro mobile platforms.

[0052] Example 2:

[0053] Embodiment 2 of the present invention provides a driving and control method for a micro mobile platform with a pseudo-bipedal structure as described in Embodiment 1, comprising the following steps:

[0054] Step 1: Input a drive signal to the piezoelectric ceramic ring according to the control command.

[0055] Step 2: Stacked piezoelectric ceramic rings excite the stretching mode of the actuator leg.

[0056] Step 3: Based on the extension mode of the actuating leg, the foot of the actuating leg provides the force for gripping the ground and moving forward, so as to realize the linear movement of the mobile platform.

[0057] Step 4: By adjusting the magnitude of the input drive signal to the two actuator legs of the mobile platform, the mobile platform can turn.

[0058] The steps involved in the above embodiment two correspond to those in embodiment one. For specific implementation details, please refer to the relevant description section of embodiment one.

[0059] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A miniature mobile platform with a pseudo-bipedal structure, characterized in that, include: The actuating leg comprises an actuating leg, a fixed-point sleeve, a support frame, and a top plate. The fixed-point sleeve is provided on the outside of the actuating leg and is connected to the top plate through the support frame. The actuating leg includes an actuating leg body, a piezoelectric ceramic ring, an actuating leg connecting rod, and an actuating leg foot end. The actuating leg body is connected to the actuating leg connecting rod. Several piezoelectric ceramic rings are stacked in parallel at the connection between the actuating leg body and the actuating leg connecting rod. The other end of the actuating leg connecting rod is connected to the actuating leg foot end. The upper end of the actuating leg connecting rod is set in the shape of a hexagonal prism. The fixed point sleeve has an opening that matches the upper end of the actuating leg connecting rod. The fixed point sleeve is tightly pressed and fixed to the upper end of the actuating leg connecting rod through the opening. The fixed point sleeve is a cylinder with a hexagonal hole and a circular protrusion in the middle. Its length is slightly shorter than the hexagonal prism. The opening matches the upper end of the hexagonal prism of the actuating leg connecting rod. The opening is slightly smaller than the bottom surface of the hexagonal prism of the actuating leg connecting rod. The lower end of the support frame is provided with a lower through hole. The fixed point sleeve is connected to the support frame through a retaining ring. The retaining ring includes a retaining ring screw and a retaining ring through hole. The retaining ring screw passes through the retaining ring through hole and the lower through hole of the support frame to fasten the fixed point sleeve between the support frame and the retaining ring. The clamping degree of the retaining ring and the support frame on the fixed point sleeve is adjusted by the retaining ring screw. The piezoelectric ceramic rings are set to four pieces, which are connected in parallel. The fixed point is controlled at the hexagonal prism position of the actuator leg connecting rod. The input signal of the piezoelectric ceramic ring is generated by an external signal generator, amplified by a power amplifier, and then input into the piezoelectric ceramic ring.

2. The micro mobile platform with a pseudo-bipedal structure as described in claim 1, characterized in that, The upper end of the support frame is provided with a through hole, and the lower surface of the top plate is provided with a square groove corresponding to the upper end of the support frame. The side of the square groove is provided with a through hole in the top plate. The upper end of the support frame is installed in the square groove. The support frame and the top plate are connected by using top plate screws that pass through the through hole in the top plate and the through hole in the support frame.

3. The micro mobile platform with a pseudo-bipedal structure as described in claim 1, characterized in that, The end of the actuating leg that contacts the ground is equipped with a front claw. When the actuating leg retracts as a whole, the front claw opens; when the actuating leg extends as a whole, the front claw closes.

4. The micro mobile platform with a pseudo-bipedal structure as described in claim 1, characterized in that, A counterweight is attached to the back of the top plate to balance the center of gravity.

5. The micro mobile platform with a pseudo-bipedal structure as described in claim 1, characterized in that, The top surface of the top plate has grooves of different shapes for holding heavy objects.

6. A driving and control method for a micro mobile platform with a pseudo-bipedal structure as described in any one of claims 1-5, characterized in that, Includes the following steps: A drive signal is input to the piezoelectric ceramic ring according to the control command; Stacked piezoelectric ceramic rings excite the tensile mode of the actuator leg; Based on the extension mode of the actuated leg, the foot end of the actuated leg provides the force for gripping and moving forward, thus enabling the mobile platform to move in a straight line; The turning of the mobile platform is achieved by adjusting the magnitude of the input drive signals to its two actuating legs.

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