Development of a Small Two-Dimensional Robotic Spherical Joint Using a Bonded-Type Piezoelectric Actuator

Piezoelectric actuator (PEA) is one of the most promising candidates for the robotic joints to realize high-resolution linear or rotary motions. In this article, a small 2-D robotic spherical joint using a bonded-type PEA was proposed to achieve the high-resolution rotary motions around two orthogonal axes. The configuration and operating principle of the robotic spherical joint were first formulated. Then theoretical analyses were carried out...