New approach to design active kinematic pairs, transforming resonant non-harmonic periodical vibrations into continuous motion is presented. The specifics of a piezoelectric motor utilizing this approach is that it can be made with limited size of arbitrary cross-section. Some examples of this type of piezomotor are presented, allowing creating miniature in-plane positioning systems and angular scanning systems. Examples of multi-degree-of-freedom piezomotors in mass-consumer devices are shown by "smart" toy prototypes made from standard LEGO™ construction blocks and mini figures.

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The design of a mobile microrobot based on standing and travelling waves is proposed and analysed in this paper. Numerical modelling based on the finite element method is performed to find the resonant frequencies and modal shapes of a microrobot, and to calculate the trajectories of the upper pointsʹ movements under an excitation scheme. Geometric Path‐Planning Algorithms for a piezoelectric hemispheric microrobot and an experimental study of this are presented in this paper