Original Article

Dual piezoelectric beam robot: The

effect of piezoelectric patches
positions

Journal of Intelligent Material Systems

and Structures
114
The Author(s) 2015
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DOI: 10.1177/1045389X15572013
jim.sagepub.com

Hassan Hariri, Yves Bernard and Adel Razek

Abstract
Inspired from linear traveling wave ultrasonic motors, a dual piezoelectric beam robot is presented. It consists of an aluminum beam structure, with two non-collocated piezoelectric patches bonded on its surface. The aim of this article is
to study the effect of the piezoelectric patches positions on the performance of the robot. For a given robot dimension,
a finite element model developed in a previous work for the robot structure is verified experimentally here and then
used to determine the optimal piezoelectric patches position. It has been found that locating the piezoelectric patches
near the ends of the beam will lead to best performance, and that the traveling wave is mainly generated between the
two patches. Two prototypes have been manufactured for this aim and have shown good agreement with simulation
results.
Keywords
Piezoelectric, actuator, sensor, bio-inspired

Introduction
With the recent advancements in micro- and nanotechnology and the information technology, the need
has arisen for robots that can be easily miniaturized,
that is, without mechanical joints, screws, legs, and so
on, that have the ability to behave like swarms in biological systems and can serve in many applications by
changing the tools used. Such robots that respond to
these needs are still a challenge nowadays in the field of
micro-robot. An overview of locomotion principles for
piezoelectric miniature robots can be found in Hariri
et al. (2010), where many designs and mechanisms are
cited for piezoelectric miniature robots on a solid substrate (Bernard et al., 2011; Cimprich et al., 2006;
Ishihara et al., 1995; Simu and Jhansson, 2002; Son
et al., 2006; Uchino, 2006; Zesch et al., 1995). We are
interested in this research in the case where two piezoelectric transducers are used to generate propulsion. As
examples of propulsion system using two piezoelectric
transducers, we can find linear ultrasonic motor as in
Hernandez et al. (2010) and Smithmaitrie et al. (2012)
and ultrasonic transport system as in Jeong et al.
(2007), Kim et al. (2009), and Loh and Ro (2000). In
mini-robotics, Hariri et al. (2013) used two piezoelectric
patches to produce linear motion for a beam structure
without any contact pads, joints, or screws on it. Hariri
et al. (2013) were able to carry heavy weights up to 18 g

on a robot of 5.2 g, thanks to optimum dimensions

taken for the system to maximize the performance of
the traveling wave generated. However, the effect of
the position of piezoelectric patches on the traveling
wave generated has not been studied (Hariri et al.,
2013). There is obviously an influence of piezoelectric
patches positions on the performance of the robot,
that is, on the higher transverse displacement and the
better waveform. Also, the finite element model developed in Hariri et al. (2011b) for damping applications
and used by Hariri et al. (2013) for robotic applications
has not been experimentally verified. This document
comes in these contexts.
In this article, we will present briefly the operation
principle of the robot. A finite element model for asymmetric system developed by Hariri et al. (2011b) for
damping applications and used by Hariri et al. (2013)
for robotic applications is experimentally verified after
Laboratoire de Genie Electrique de Paris (LGEP)/SPEE-Labs, CNRS UMR
8507, SUPELEC, Universite Pierre et Marie Curie P6, Universite Paris-Sud
11, Gif sur Yvette, France
Corresponding author:
Hassan Hariri, Laboratoire de Genie Electrique de Paris (LGEP)/SPEELabs, CNRS UMR 8507, SUPELEC, Universite Pierre et Marie Curie P6,
Universite Paris-Sud 11, 11 rue Joliot Curie, Plateau de Moulon, F91192
Gif sur Yvette, France.
Email: haririhas@gmail.com

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Journal of Intelligent Material Systems and Structures

a brief presentation of the finite element model to modulate the robot structure. The influence of piezoelectric
patches positions on the performance of the robot is
studied and two prototypes at different piezoelectric
patches positions were fabricated and partially characterized for this aim.

Operation principle of the dual

piezoelectric beam robot
Our idea is to generate this traveling wave in a beam
structure to move it on a solid substrate. The traveling
wave is generated without using legs, with two noncollocated piezoelectric patches bonded on the beam
surface.
Pure linear traveling waves are usually observed on
long structures and rarely on normal finite structures.
In finite structures, the excited vibration wave is partially reflected when it hits the boundaries, which creates a mixture of standing and traveling waves; a
standing wave is generated by superposition of two traveling waves with the same amplitude and frequency
but moving in different directions. That is why the second piezoelectric transducer or patch is used to avoid
wave reflection. Several configurations were reviewed in
Gabai and Bucher (2009) to excite traveling wave in
finite structures. A passive method as what it had used
in Giurgiutu and Rogers (2000), Hull (1994), and
Kuribayashi et al. (1985) where the first piezoelectric
transducer is used as vibrator to produce the traveling
wave oscillation, while the second piezoelectric transducer is used as absorber to absorb the wave and prevent
reflection. This is done by connecting an RL passive circuit to the absorber. The impedance of the passive circuit is determined by tuning to the acoustic impedance
of the beam. An active control is also used to control
the vibrating wave along the beam, as a feedback control or an adaptive control instead of using passive electrical network and that can be found in Mei (2002) and
Elliot and Billet (1993). A different approach is used in
Jeong et al. (2007), Loh and Ro (2000), and Kim et al.
(2009), where both piezoelectric transducers are used as
vibrators. The idea is to excite simultaneously two
neighboring natural mode shapes of the beam at the
same frequency but a phase difference of 90.
In our system, we opted to use vibratorabsorber
(VA) and vibratorvibrator (VV) methods. The
choice between a method and the other depends on the
mechanical load and speed required as demonstrated
by Hariri et al. (2013). Therefore, our system consists
of a beam structure, with two non-collocated piezoelectric patches attached to its surface.
In case of VA method, one patch produces the
mechanical displacement of the beam by applying an
electrical voltage, while the other converts this mechanical displacement into electrical energy which is then

dissipated through passive RL electrical networks to

avoid wave reflection. In order to obtain a great rate of
traveling wave, R and L must be calculated to obtain
the maximum ratio of power dissipated to power provided. In another term, they must be calculated to
absorb the best possible reflection of the traveling
wave. A schematic figure for the VA dual piezoelectric
beam robot is presented in Figure 1(a).
In case of VV method, two piezoelectric patches
are used as actuators producing the mechanical displacement of the beam by applying simultaneously two
neighboring natural mode shapes of the beam at the
same frequency but with a phase difference of 90. The
vibration can be approximated as the superposition of
these two modes; this is called a two-mode excitation
(Dehez et al., 2010; Kim et al., 2009). A schematic figure for the VV dual piezoelectric beam robot is presented in Figure 1(b). Figure 1(c) is a schematic figure
for a wave generated on the beam. By generating a traveling wave, an elliptical motion appears at each point
of the beam. This motion is the origin of the frictional
force exerting at the contact surface that led to movement of the robot.

Modeling of the dual piezoelectric beam

robot
Finite element modeling of thin structures containing
piezoelectric materials is widely used in the literature,
mainly in the case of beam structures. In the case of
asymmetric system where the piezoelectric patches are
not bonded face-to-face on both sides of the beam, the
notion of the neutral axis should be introduced in the
model. The finite element method (FEM) can be used
to modulate the robot structure and in order to determine optimal geometric parameters of the system, the
material used for the beam, optimal R and L values in
the case of vibrationabsorber method, and optimal
operating frequency, that is, better traveling wave performance. Figure 2 describes geometric parameters,
coordinate system, and the description of the neutral
axis (zn ) of the system.

Finite element modeling

The equation of the system is derived based on Euler
Bernoulli assumptions for a beam structure. Stresses
are supposed to be uniaxial in the x direction. With the
assumption of small deformations, the cross section
remains perpendicular to the neutral axis after deformation. Thus, the displacement field becomes
8
< u1 (x, y, z, t)  (z  zn )x w(x, t)
u2 (x, y, z, t) = 0
fug =
:
u3 (x, y, z, t) w(x, t)

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Hariri et al.

Piezoelectric
patch

Piezoelectric
patch

(a)

(b)

(c)
Figure 1. A schematic figure for the dual piezoelectric beam robot: (a) vibratorabsorber, (b) vibratorvibrator, and (c) traveling
wave on the beam.

Figure 2. Geometric parameters, coordinate system, and description of the neutral axis.

The total displacement field can be characterized

with only one unknown w(x, t), the transverse displacement of the neutral axis zn of the system. The neutral
axis zn can be determined by setting the sum of all
forces in the x direction over the entire cross section
equal to 0 (Ballas, 2007). Here, zn is calculated from the

bottom of the system according to the coordinate system adopted in Figure 2, and therefore
tm

sm
1 (z)dz + b

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tm +
tp
tm

sp1 (z)dz = 0

Journal of Intelligent Material Systems and Structures

where sp1 and sm

1 represent uniaxial stresses in the x
direction for piezoelectric patches and beam elastic
material, respectively. Taking into account that the
electric field is assumed to be uniformly distributed in
the z direction, the poling direction of the piezoelectric
layer is in the positive z direction, and under the
assumption of uniaxial stress and the assumption of
linear constitutive relationships of piezoelectricity and
elastic material, we can write
sm
1 = cm e1

1
d3 1
e 1  E E3
E
s11
s11


d31
d2
D3 = ep e1 + eep E3 = E e1 + es33  E31 E3
s11
s11
s1p = cp e1  ep E3 =

4
5

where cm and cp are the Young modulus for beam elastic material and piezoelectric patches, respectively; ep is
the piezoelectric constant; and eep is the piezoelectric
permittivity at constant strain. e1 is the strain in the x
direction and is defined by
e1 = x u1 = (z  zn )2x w

Using Hooks law, while substituting relation (6),

yields
tm

cm (z  zn )dz +

tm
+ tp

cp (z  zn )dz = 0

tm

And after simplification, the neutral axis is

(
zn =

1 cm tm + cp tp + 2cp tp tm
2
cm t m + c p t p
tm
2

if x 2 to patches
if not

Applying Hamilton principles as described in Gabai

and Bucher (2009), we obtain the variational equation
governing the mechanical and piezoelectric part of the
system

rfdugt fug  fdegt cfeg + fdegt et fEg

+ fdEgt efeg + fdEgt 2e fEg

+ fdugt fFv gdV + tp fdEgQ = 0

Using Hermite element as mentioned in Corcolle

et al. (2008) [24] to write the solution w(x, t) as a function of the corresponding node values wi and the shape
function l. At each node, the unknowns are wi and
x wi to ensure C1 continuity. Therefore, one element
(two nodes) is linked to four unknowns and four shape
functions. Then, we integrate equation (9) over each
element along the beam length to obtain the elementary
matrices. To obtain the assembly matrices of the
system, we must assemble the elementary matrices
obtained by integration over each segment, taking into
account the equality of node values of an element with
its neighboring ones. Boundary conditions are taken
into account also during the assembly of matrices.
Finally, we obtain the finite element model of the system as shown in equation (10)
2

M
6
40

0
0

+
2
Kmm
6
K
4 vmp1
Kvmp2

3 2
32
i
C
0
U
76 7 6
0 54 E3p1 5 + 4 0
3p2
0
0
E
Kmvp1

Kmvp2

Kvvp1

Kvvp2

32

Ui

0
0
0
3

32
3
0
U_ i
76
7
0 54 E_ 3p1 5
0
E_ 3p2
2

Fi

76
7 6
7
54 E3p1 5 = 4 tp Qp1 5
E3p2
tp Qp2

10

where M, C, and Kmm are the mass, damping, and stiffness matrices, respectively; Kmv and Kvm are the piezoelectric coupling matrices; and Kvv is the dielectric
stiffness matrix. The mass and stiffness matrices
included all the geometric parameters and physical
properties of the system. Ui is the mechanical displacement at each node of the system, E3 is the piezoelectric
electric field. Fi is the mechanical load at each node and
Q is the electrical load. p1 and p2 denote piezoelectric

Table 1. Properties and geometry of the system.

Youngs modulus (Pa)

Poisons ratio
Volume density (kg m23)
Relative permittivity
Piezoelectric constant (m V21)
Elastic compliances (Pa21)
Max peak to peak electric field (V mm21)
Max compressive strength (Pa)
Length 3 width 3 thickness (mm3) (lp, lm) 3 (bp, bm) 3 (tp, tm)
Xp1, Xp2 (mm)

PZT (p)

Elastic structure (m)

rp = 7900
e33r = 1282
d31 = 21.3 3 10210
S11 = 1.3 3 10211
S12 = 24.76 3 10212
Emax = 300
smax = 600 3 106
32 3 17 3 0.27
24,126

cm = 69 3 109
y m = 0.33
rm = 2700

180 3 17 3 0.5

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Hariri et al.

Figure 3. Experimental setup for model validation.

In case of VV where both patches are acting as

vibrators, the equation becomes
2

6
40
0
+
2

3 2
i
U
C
76 7 6
0 0 54 tp Qp1 5 + 4 0
p2
0
0 0
tp Q

0 0

32

Kmod

6
1
6 Kvvp1
Kvmp1
4
1
Kvvp2
Kvmp2
2

3
U_ i
76
7
0 54 tp Q_ p1 5
0
tp Q_ p2

0
0

1
Kmvp1 Kvvp1

1
Kmvp2 Kvvp2

1
Kvvp1

0
3

1
Kvvp2

ze = j(2p f )L + R

patches 1 and 2, respectively. The damping matrix is

determined experimentally (Reza Moheimani and
Fleming, 2006) and integrated in the system via
Rayleigh damping, to match the damping behavior of
the real system. We should note that mechanical boundary conditions are taken during matrix assemblies.
In case of VA where p1 is acting as the vibrator and
p2 is acting as the absorber, the equation becomes
M
6
40
0
+
2

32

i
C
U
76 7 6 0
0 0 54 tp Qp1 5 + 4
0
p2
0 0
tp Q

0 0

Kmod

6
1
6 Kvvp1
Kvmp1
4
1
Kvvp2 Kvmp2
2
= 4 E3p1 (t) =

1
Kmvp1 Kvvp1

32

0
0

1
Kvvp1

1
Kvvp2

V
tp

sin (2p ft) 5

U_ i
6 _ 7
0 7
54 tp Qp1 5
 zt2e
tp Q_ p2

1
Kmvp2 Kvvp2

0
0

32

3
Ui
76
74 tp Qp1 7
5
5
tp Qp2

0
6 E3p1 (t) = V sin (2p ft) 7
=4
tp
5 12
E3p2 (t) = Vtp cos (2p ft)

Figure 4. Frequency comparison.

32

32

3
Ui
76
74 tp Qp1 7
5
5
tp Qp2
11

13

1
1
Kmod = Kmm  Kmvp1 Kvvp1
Kvmp1  Kmvp2 Kvvp2
Kvmp2 14

where ze is the electrical impedance for series RL circuit, f is the frequency of the applied sinusoidal voltage
of magnitude V, and Kmod is the modified stiffness of
the system.

Experimental validation
In order to validate the model, an aluminum cantilever
beam with two piezoelectric patches bonded on its surface is taken. The dual piezoelectric beam robot is free
at both ends; however, for measurement simplicity, a
clamped-free boundary condition is taken to validate
the model. The piezoelectric patches (NCE41) were
purchased from Noliac, Inc., Denmark, and they were
chosen as wrap around electrode (WAE) shapes to be
able to connect the two electrodes. The experimental
setup is presented in Figure 3. Geometric parameters
and properties for the piezoelectric ceramic material
(PZT, or lead zirconate titanate) and aluminum beam
used are given in Table 1.

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Journal of Intelligent Material Systems and Structures

Figure 5. Finite element model validation.

Table 2. Five different PZT patches positions are taken to

study.
Piezoelectric patches positions (mm)

PZT (p1 and p2)

Position 1: Xp1, Xp2

Position 2: Xp1, Xp2
Position 3: Xp1, Xp2
Position 4: Xp1, Xp2
Position 5: Xp1, Xp2

14,134 (mm)
24,124 (mm)
34,114 (mm)
44,104 (mm)
54,94 (mm)

We begin the process of model validation by comparing the resonant frequencies of the model with the
experimental ones and then measure the transverse displacement of the beam and compare it with the model.
All measures are done using a high-resolution laser
interferometer LK-G3001PV Keyence France.
The model is verified experimentally by applying a
sinusoidal voltage of 20 V peak to peak at one

piezoelectric patch while the other remains open

circuited. First 10 resonant frequencies are determined
by simulation using the finite element model developed
and compared with the experimental frequencies as presented in Figure 4. The figure shows a good agreement
between model and measurements.
Then, as shown in Figure 5, transverse displacements
along the entire length of the device are compared for
the first, second, and third resonant modes. Also, a
comparison for tip displacement versus frequency is
done in Figure 5.

Effect of piezoelectric patches positions

For a given beam dimension, the optimal material used
for the beam and the optimal piezoelectric thickness,
optimal operating frequency, and optimal R and L values (case of vibratorabsorber), that is, better traveling

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Hariri et al.

7
Table 3. Excitation frequencies at position 1.
1
2
3
4
5

Figure 6. Schematic distribution for the PZT patches.

wave performance, were studied in Hariri et al. (2013),

and arbitrary piezoelectric patches positions were
taken. In this article, the influence of piezoelectric
patches positions on the traveling wave performance is
studied at a given dimension of the beam and a given
dimension of the piezoelectric patches to determine the
optimum piezoelectric patches positions.
Being given dimensions of the beam (lm = 180 3
bm = 17 3 tm = 0.5 mm), we are interested in a PZT
patch having the same width as the beam and a length
at least two times its width because we are in the case of
thin beam where only x direction is considered for modeling. Consequently, the width of the PZT patches is
equal to 17 mm and its length is selected to be between
30 and 35 mm. Aluminum is determined as a better
elastic material compared to acrylic, steel, and brass. It
was chosen based on transverse displacement (electromechanical conversion) and frequency. For this material, the optimal PZT patch thickness is equal to 0.27
mm compared to 0.5 mm thickness of the beam (Hariri
et al., 2013).
We focus more on the influence of piezoelectric
patches on the traveling wave performance (waveform
and transverse displacement). For this purpose, five
positions are taken as shown in Table 2 and represented in Figure 6.
Optimal operating frequency is the one that gives a
better traveling wave performance (waveform and
transverse displacement) at fixed PZT patches positions. At each position taken, the optimal operating frequency is determined and then a comparison between
the traveling wave performances for these five positions
is done. The optimal operating frequency is obtained
using iterative simulations at each resonance frequency
in the case of VA and at each frequency between two
successive resonance frequencies in the case of VV.
Also, an iterative simulation at each resonance frequency should be done in the case of VA to determine
R and L optimal values. That to get the maximum ratio
of power dissipated to power provided. For simplicity
and without loss of generality of the problem, the study
of the influence of piezoelectric patches positions on

fn (Hz)

fn+1 (Hz)

fn*(n+1) = fexcitation (Hz)

11
15
16
18

5337.8
9097.1
10,494
12,909

6241.2
10,494
11,795
14,246

5789.5
9795.5
11144.5
13577.5

the traveling wave performance is performed in the case

of VV.
Using the model given in equation (12) in case of V
V operation principle, iterative simulations are done at
each frequency between two successive resonance frequencies. This frequency is taken in simulation as the
middle of the two successive resonance frequencies.
The simulations show that the middle of the 16th and
17th resonance frequencies is the optimal operating frequency for position 1. Some frequencies given in Table
3 are chosen to justify the choice of the optimal operating frequency at this position as shown in Figure 7.
Figure 7 represents a mixture wave between a traveling
wave and a standing wave and it projected on a plane
of length (x) in millimeters and time (t) in milliseconds
of a flexural beam at its transverse displacement in
micrometers (color bar). By comparing the figures in
Figure 7 to the pure traveling wave and pure standing
wave, we get the traveling wave performance (better
traveling waveform, higher transverse displacement).
Figure 8 shows a top view representation for a pure
standing wave and a pure traveling wave on a beam.
As we can see from the figures in Figure 7 at the
location of the contact surface between the beam and
the PZT patches, the vibration is less progressive than
the place near the middle of the beam. It is clear from
Figure 7 that f16*17 (11144.5 Hz) has a good transverse
displacement and a better traveling wave performance
comparing to others. This justifies to take it as an optimal frequency at position 1.
At position 2, f16*17 (11130.5 Hz) also shows a better
traveling wave performance. We arbitrary take three
other frequencies to justify the choice of the optimal
one. The frequencies are given in Table 4 and traveling
wave performance at these frequencies is shown in
Figure 9. It is clear from Figure 9 that f16*17 gives a better traveling wave performance compared to others.
Following the same methodology at positions 35
using iterative simulations at each frequency between
two successive resonance frequencies. We obtain f16*17
(11,101 Hz) as the optimal operating frequency at position 3, f16*17 (11,073 Hz) as the optimal operating frequency at position 4, and f15*16 (9664.1 Hz) as the
optimal operating frequency at position 5. Figures 10
to 12 justify our choices by comparing some frequencies arbitrary taken (Tables 5 to 7).
Furthermore, traveling wave changes direction
according to the excitation frequency as we can see in

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Journal of Intelligent Material Systems and Structures

Figure 7. Traveling wave performance for certain frequencies at position 1.

Figure 8. Top view representation for a pure standing wave and a pure traveling wave on a beam.

Figures 7 and 9 to 12 by switching between two successive excitation frequencies. This result was demonstrated in Kim et al. (2009) for linear traveling wave
ultrasonic motors and in Hariri et al. (2012) for mobile
robots.

The mini-robots at positions 2 and 3 show a better

traveling wave performance comparing to the other
positions. They have approximately the same traveling
wave performance. The mini-robot at position 1 comes
after. The mini-robots at positions 4 and 5 do not

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Hariri et al.

Table 4. Excitation frequencies at position 2.

Table 5. Excitation frequencies at position 3.

fn (Hz)

fn+1 (Hz)

fn*(n+1) = fexcitation (Hz)

fn (Hz)

fn+1 (Hz)

fn*(n+1) = fexcitation (Hz)

6
14
16
17

1579.3
7958.1
10,471
11,790

2184.6
9028.9
11,790
12,827

1882
8493.5
11130.5
12308.5

14
15
16
17

7960
8977.9
10,425
11,777

8977.9
10,425
11,777
12,765

8468.9
9701.6
11,101
12,271

expected to move because a low traveling wave ratio at

position 4 and a clear non homogeneity of the wave at
position 5 are shown at their optimal operating
frequencies.
As conclusion, it is suggested to locate the PZT
patches on positions near the ends of the beam (positions 13) because the traveling wave is mainly created
between the two PZT patches. However, the difference
in performance at each position (positions 13) is due
to the establishment of the PZT patches relative to the
nodes and anti-nodes of a given frequency. A study by

Elliot and Billet (1993) for ultrasonic motors using two

Langevin piezoelectric transducers (punctual force
applied on the beam) demonstrates that the location of
the transducer has an influence on the vibration of the
beam (transverse displacement). When the actuator is
placed on a point corresponding to an anti-node of a
given frequency, the transverse displacement will be
maximized. On the contrary, when it is placed at a
node of this frequency, the transverse displacement will
be completely absent. Also, vibrations can cancel each
other in the case of two punctual longitudinal forces

Figure 9. Traveling wave performance for different frequencies at position 2.

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10

Journal of Intelligent Material Systems and Structures

Table 6. Excitation frequencies at position 4.

Table 7. Excitation frequencies at position 5.

fn (Hz)

fn+1 (Hz)

fn*(n+1)
= fexcitation (Hz)

fn (Hz)

fn+1 (Hz)

fn*(n+1)
= fexcitation (Hz)

14
15
16
17

7.9658e+003
8.9799e+003
1.0369e+004
1.1777e+004

8.9799e+003
1.0369e+004
1.1777e+004
1.2746e+004

8.4729e+003
9.6746e+003
11,073
12,261

7
14
15
16

2.1570e+003
7.9561e+003
9.0411e+003
1.0287e+004

2.7033e+003
9.0411e+003
1.0287e+004
1.1801e+004

2.4301e+003
8.4986e+003
9664.1
1.1044e+004

Figure 10. Traveling wave performance for different frequencies at position 3.

(Langevin transducers) applied at two neighboring

anti-nodes. The same is applied in our case with the
only difference that a piezoelectric patch is equivalent
to two bending moments at both ends of the patch
(Hariri et al., 2011a; Jalili, 2009).

Characterization of two prototypes at

different piezo-positions
Two dual piezoelectric beam robots are shown in
Figure 13; mini-robot 1 corresponds to position 1 and
mini-robot 2 corresponds to position 2. More details

about electronics used in case of VV and VA operation principle can be found in Hariri et al. (2013).
Figure 14 shows the simulation results for the traveling
wave performance at positions 1 and 2 in both cases
(VV and VA).
The optimal RL shunt circuit has been calculated at
position 2 (R17 = 9.75 O, L17 = 9 mH) in the case of
VA operation principle in [14]. Following the same
methodology at position 1, the optimal RL circuit is
calculated (R16 = 23.75 O, L16 = 11.4 mH).
According to Figure 14, performances of waves
(transverse displacement and traveling wave ratio) can
be given in the descending order as follows: VV at

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Hariri et al.

11

Figure 11. Traveling wave performance for different frequencies at position 4.

Figure 12. Traveling wave performance for different frequencies at position 5.

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12

Journal of Intelligent Material Systems and Structures

Figure 13. Mini-robot 1 and mini-robot 2 where PZT patches are located at positions 1 and 2.

Figure 14. Optimal traveling wave performance for both modes of operation at positions 1 and 2.

position 2, VV at position 1, VA at position 2, and

VA at position 1. The speed of the robot is measured
using the formula d/t on a smooth glass flat surface
(Figure 15) and an average speed for several tests is
taken. Figure 16 shows the average robot speed on the

smooth glass flat surface for different applied voltages

for the four cases presented in Figure 14. Figure 16
shows that robot speed varies linearly with the applied
voltage. The robot speed increases with voltage, which
is the logic because with increasing voltage, the

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Hariri et al.

13

Figure 15. Piezoelectric mini-robot on a smooth glass flat surface.

damping materials will be used to improve the performance of the robot.

Declaration of conflicting interests
The authors declared no potential conflicts of interest with
respect to the research, authorship, and/or publication of this
article.

Funding
This research received no specific grant from any funding
agency in the public, commercial, or not-for-profit sectors.

References
Figure 16. Robot speed versus applied voltage.

transverse displacement increases and this increase is

reflected by an increase in the speed of the robot. It is
also in agreement with the simulation shown in
Figure 14.

Conclusion and future work

We presented a dual piezoelectric beam robot work by
generating a traveling wave on its body using the VA
and VV operation principle presented briefly in this
article. The dual piezoelectric beam robot consists of
an aluminum beam structure, with two non-collocated
piezoelectric patches bonded to its surface. A finite element model for the robot was developed in a previous
work and validated experimentally in this article. In
design, we focused on the influence of piezoelectric
patches on the traveling wave performance and it has
been found that locating the piezoelectric patches near
the ends of the beam will lead to best performance, and
that the traveling wave is mainly generated between the
two patches. Two prototypes have been manufactured
for this aim and have shown good agreement with the
simulation results. In future work, new dimensions will
be proposed to work in ultrasonic domain, and also

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