Fig. 2: Structural configurations of the PRH and multi-dimensional motions of the piezo finger induced by deformations of the actuation part.
From: Piezo robotic hand for motion manipulation from micro to macro
a Prototype and overall structure of the PRH. b Components of single piezo finger. c Deformations of the actuation part, including 2D lateral bending motions along the x-axis and y-axis, as well as 1D longitudinal extending motion along the z-axis. d Photos of the actuation part and piezo fingers. e Multi-dimensional motions of the piezo fingers, which are induced by the deformations of the actuation part. f Simulated multi-dimensional motions of the piezo finger by the finite-element method. g Influences of the number of piezo rings and exciting voltage on the response displacement.
