Development and evaluation of a bipedal stepping piezoelectric actuator based on stick–slip principle

In this work, a novel bipedal stepping piezoelectric actuator based on stick–slip principle is proposed. An integrated stator with symmetrically positioned dual driving feet has been developed, characterized by its element analysis. Key structural parameters were optimized, and a prototype was fabricated for a series of experiments. The experimental results demonstrate that the actuator attains a maximum output speed of 4550 μm/s at a voltage of 150 V and a frequency of 350 Hz. The stepping efficiency is measured at 0.886, with a maximum horizontal load capacity of 170 g. Furthermore, the actuator exhibits a displacement resolution of 180 nm, making it highly suitable for precision actuation and applications in fields such as biomedical engineering.