A simple linear driving actuator for robotic arm used in land-deep sea

A 5 cm‐Scale Piezoelectric Jetting Agile Underwater Robot

“…[4][5][6] However, additional transmission systems or joints prohibit miniaturization. Currently, smart actuators using functional materials promote the development of miniaturizing robots, [7,8] such as ionic polymer-metal composite actuators (IPMCA), [9][10][11] shape memory alloy actuators (SMAA), [12][13][14] dielectric elastomer actuators (DEA), [15][16][17] piezoelectric actuators (PA), [18][19][20] external stimuli-responsive materials (ES-RM) actuators, [21][22][23][24] pneumatic/hydraulic actuators (P/HA), [25][26][27][28] biohybrid actuators (BA) [29][30][31] and electrothermal actuators (ETA). [32][33][34] The size of the robot can be easily reduced to the centimeter scale as the direct driving mode of the smart actuator.…”