According to the needs of micro-manipulation, a prototype of miniaturerobot driven by piezoelectric actuator is designed.
为适应微细操作的需要，研制了一种压电陶瓷驱动的微小型步行机样机。
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Then, some micro-handling experiments such as micro parts gripping, transportion and assembly are done to vertify the validity of miniaturerobot based automatic micro-handling system.
Aiming at the moving requests of miniature mobile robot on unstructured environment, a wheel-legged robotic platform with multi-configuration was developed.