中文摘要：

提出了一种基于弹性体1阶纵振、3阶弯振驱动的“人”字型移动机器人，实现了基于同一压电陶瓷片的压电常数（d33，d31）效应同时激发纵振、弯振的设想；建立了纵、弯振频率一致性的几何条件；仿真了机器人的振动模态，并计算出了纵、弯振动一致性固有频率为26．378kHz；研制出了机器人的自振荡频率跟踪驱动电路；制作出了机器人原型机，并在其上完成了模态、运行实验；实验结果表明该机器人可在较光滑表面上爬行。

英文摘要：

A mobile robot driven by the first order longitudinal vibration mode of its one foot and the third order bending vibration mode of the other foot, which are excited respectively by the d33 and d31 effect of the same piezoceramic, is proposed. Geometric structural condition aimed to make the longitudinal and bending resonance frequencies of the robot＇s two feet to have the same value is presented. The vibration modes used to drive the robot＇s two feet are simulated, and relative resonance frequency is calculated to be 26. 378 kHz. A self-oscillating driving circuit is of the robot developed and a prototype of the robot is made. Modal and crawling experiments have been done with that prototype. The experiment shows that such a robot can crawl well on the smooth surface.