即使两个相同幅度的压电陶瓷输入用于微型机器人的并联配置，它们也无法实现

即使两个相同幅度的压电陶瓷输入用于微型机器人的并联配置，它们也无法实现线性运动。假设在实验中工作表面上的摩擦力是均匀的，忽略了它们对微机器人运动特性的影响。<br>为了提高微型机器人线性运动定位的精度，在两侧采用压电陶瓷的输入电压偏差补偿，以减少元件轴承缺陷和压电陶瓷特性对机器人运动的影响。如图3-4所示，通过设置两个压电陶瓷正弦输入电压的振幅 和 ，将产生两个压电陶瓷的输出位移之间的差异。步长的差异通过微型机器人在线性运动时的位置偏差来补偿，最终实现了微型机器人向前运动的精确控制。

Even if two piezoelectric ceramic inputs of the same amplitude are used for parallel configuration of micro robots, they cannot achieve linear motion. Assuming that the friction force on the working surface is uniform in the experiment, their influence on the motion characteristics of the micro robot is ignored.<br>In order to improve the accuracy of linear motion positioning for micro robots, piezoelectric ceramic input voltage deviation compensation is used on both sides to reduce the impact of component bearing defects and piezoelectric ceramic characteristics on robot motion. As shown in Figure 3-4, by setting the amplitude sum of the sinusoidal input voltage of two piezoelectric ceramics, the difference in output displacement between the two piezoelectric ceramics will be generated. The difference in step size is compensated for by the positional deviation of the micro robot during linear motion, ultimately achieving precise control of the micro robot's forward motion.

Even if two piezoelectric ceramic inputs with the same amplitude are used for parallel configuration of micro-robots, they cannot realize linear motion. It is assumed that the friction force on the working surface is uniform in the experiment, and their influence on the motion characteristics of micro-robot is ignored.<br> In order to improve the accuracy of linear motion positioning of micro-robot, the input voltage deviation compensation of piezoelectric ceramics is adopted on both sides to reduce the influence of component bearing defects and piezoelectric ceramic characteristics on robot motion. As shown in Figure 3-4, by setting the amplitude sum of sinusoidal input voltages of two piezoelectric ceramics, the difference between the output displacements of the two piezoelectric ceramics will occur. The difference of step size is compensated by the position deviation of the micro-robot when it moves linearly, and finally the precise control of the micro-robot moving forward is realized.