The invention discloses a
sandwich type piezoelectric driving double-shaft output
mobile robot and a working method thereof.The
sandwich type piezoelectric driving double-shaft output
mobile robot comprises a
sandwich type piezoelectric
transducer, a pre-pressure applying mechanism, a driving wheel unit, a first output shaft, a second output shaft, a base
body frame and a connecting plate, and a clamping mechanism is not arranged on a
stator base body of the sandwich type piezoelectric
transducer; a single pin of the pre-pressure applying mechanism and a through hole in the middle of a
stator node beam are used for restraining, automatic rolling transmission of
contact force is achieved under the condition of matching of the pin hole, and pre-pressure transmitted by the pre-pressure applying mechanism achieves
force balance under the counter-acting force generated when a first driving foot and a second driving foot of the sandwich type piezoelectric
transducer make contact with the curved surface of an output shaft. The elliptical motion trail direction of the
stator driving foot can be controlled by controlling the
electric signal phase difference of the
longitudinal vibration piezoelectric
ceramic set and the
bending vibration piezoelectric
ceramic set, forward and reverse motion of the first output shaft and the second output shaft is achieved through friction contact, and the
mobile robot achieves forward, backward and rapid locking motion.