A High Thrust-to-Weight Ratio Piezoelectric Robot Based on Magnetic Inertial Impact Mechanism

In the domain of miniature robotics, conventional piezoelectric actuation strategies often struggle to balance millimeter-scale stroke, hundred-nanometer scale positioning precision, and hundreds of millinewtons of load, owing to limitations in range control. This results in significant limitations in resisting cable-induced disturbances and integrating multiple degrees of freedom. To address these challenges, this work presents a high thrust-to-weight ratio piezoelectric robot based on magnetic inertial impact mechanism, which is equipped with a two-stage displacement amplification mechanism. A magnetic adhesion design is introduced to mitigate interference from power cables, substantially enhancing the system’s operational stability. The robot, with compact dimensions of just 11 × 18 × 28 mm3, is capable of executing a variety of locomotion modes including forward and backward translation, turning motion, and in-place rotation. Notably, it can achieve 180° inverted locomotion and 90° vertical climbing under specific conditions. Finite element analysis, mathematical modeling of magnetic adhesion forces, and Simulink-based dynamic simulations were performed to validate the design. Experimental results demonstrate that under 150 V. The robot can carry a load of up to 3 kg, achieves a load-to-weight ratio of up to 283:1, exhibiting outstanding thrust performance and anti-interference capability. This study provides an effective approach to achieving motion stability and high load capacity for precision mechanics and micro/nanomanipulation applications.