“…This article proposes a compact bidirectional motion piezoelectric actuator, which uses coupled asymmetrical flexure hinge mechanisms and symmetrical indenter to generate controllable tangential displacement. Compared with the previous actuators (Cheng et al, 2017a; Li et al, 2018b; Qin et al, 2019; Wang et al, 2019a; Wen et al, 2019), due to the larger tangential displacement, larger static friction force, and smaller kinetic friction force, the output performances of the proposed actuator have a considerable improvement, such as the output velocity, load, and efficiency. The MDR friction model is introduced, including the normal contacts model and tangential contacts with friction, and experiments are demonstrated to prove the effectiveness of the proposed frictional model.…”