Robotic micromanipulation technology plays a fundamental supporting role in biomedical engineering field. However, it is still a challenge for robotic manipulators to meet the puncture performance requirements for complex cells and curved vessels with different sizes, because they are difficult to achieve a comprehensive characteristic of multi-DOF, long stroke, high displacement resolution, large puncture force, and high force resolution for limitations of structures, driving elements, and actuation methods. To addresses this challenge, this article proposes the conceptual design of a piezoelectric robotic manipulator (PERM) driven by a single piezoelectric actuator. A configuration design idea and a new actuation method are elaborated to achieve 2-DOF cross-scale manipulation and adjustable puncture force. Theoretical analyses and simulations are carried out to investigate the influence of key structural parameters on displacement response and puncture force, as well as to determine the parameters. A prototype is fabricated, a dedicated handheld controller is developed, and a robotic micropuncture system is constructed to conduct characteristic testing and application research. Experimental results reveal that the manipulator achieves linear and rotary strokes of 38.5 mm and 360°, displacement resolutions of 48 nm and 0.38μrad, a puncture force range from 1.70 to 301.34 mN, and a force resolution of 0.13 mN. Additionally, the manipulator successfully performs delicate puncture of silicone capillaries with different sizes and a curved silicone capillary under collaborative manipulation of the piezoelectric platform. This article exhibits a high-performance PERM and verifies its feasibility in micropuncture of tiny and complex-shaped organisms.

Problems of large sizes and low displacement resolutions widely exist in most of the pole-climbing robots based on electromagnetic or electrostatic motors, which greatly decrease the reachable workspace and influence their utility for inspection tasks. Here, we present a piezoelectric pole-climbing robot (Crabbot) to overcome these shortcomings, which has the advantages of small size, high load-to-weight ratio and high resolution. Moreover, Crabbot can climb poles with different cross-sections through the designed crab-like clamp. This robot was composed of two clamping units and an elongation unit, and the stepping displacements were amplified by the designed flextensional mechanism. A prototype with weight of 0.35 kg was manufactured, the external dimension was 50 × 54 × 86 mm. Experimental results showed that the robot achieved a maximum speed of 100.9μm/s under a voltage of 150 V and a frequency of 9 Hz; moreover, a load weight ratio of 1.42 and a displacement resolution of 85 nm were obtained. As a demonstration of its potential for industrial applications, Crabbot achieved stable step motion on climbing poles of different cross-sections under different climbing angles.