The invention discloses a flexible
robot based on piezoelectric driving. The flexible
robot based on piezoelectric driving is formed by connecting six driving feet to a cross-shaped PVC film, and
shape memory alloy springs and
shape memory alloy wires are separately arranged on the upper and lower surfaces of the PVC film, wherein the
shape memory alloy springs and the shape memory
alloy wires arearranged in a crossed mode. By using the vibration of
piezoelectric bimorph under the action of sine and cosine voltages, the
robot can move forward and turn left and right by exciting different
piezoelectric bimorph sets. By using the characteristics that the shape memory
alloy springs are heated and shrunk to restore the original length, a corresponding front leg, middle leg or rear leg of therobot is lifted, and meanwhile by using the characteristics that the shape memory
alloy wires are heated to restore the original straight line shape, so that the corresponding front leg, middle leg orrear leg of the robot fall down, and the obstacle-crossing function of the robot is realized. The flexible robot based on piezoelectric driving combines the advantages of fast response, accurate positioning and
large deformation degree of a shape memory alloy of piezoelectric driving to realize the planar motion and the obstacle-crossing function of the robot.