Patent ID: 11881795
Assignee: SEIKO EPSON CORPORATION
Field: Electrical machinery, apparatus, energy (Electrical engineering)
Classification: CPC H  B | IPC B  H

Claim 10:
11. A robot comprising:
a piezoelectric driving apparatus including a vibration section that has a piezoelectric element and a transmission section that transmits vibration of the vibration section to a driven body, and, by energization of the piezoelectric element, vibrates the vibration section in a combination of longitudinal vibration and bending vibration to cause the transmission section to perform an elliptical motion and to move the driven body by the elliptical motion;
a movable section driven by the piezoelectric driving apparatus; and
a controller that controls drive of the piezoelectric driving apparatus, wherein:
the controller switches, according to an external force received by the driven body, a drive algorithm of the piezoelectric driving apparatus between a first drive mode in which a separation amplitude, which is an amplitude of the longitudinal vibration, is changed while a feed amplitude, which is an amplitude of the bending vibration, is constant and a second drive mode in which both the feed amplitude and the separation amplitude are changed.