US Patent 9919418 Piezoelectric driving device, robot, and driving method of the same

A piezoelectric driving device includes a vibrating plate, a first piezoelectric vibrating body which is disposed on the first surface of the vibrating plate; a second piezoelectric vibrating body which is disposed on the second surface of the vibrating plate; and a protrusion which is provided on the vibrating plate and comes into contact with a body to be driven, wherein the first piezoelectric vibrating body and the second piezoelectric vibrating body have asymmetry that the first piezoelectric vibrating body and the second piezoelectric vibrating body are asymmetrical to each other with respect to the vibrating plate.