Piezoelectric drive device and robot

A robot comprising:

• a plurality of links;
• a plurality of joints, each of the plurality of joints connecting adjacent two of the plurality of links to each other;
• and
• a piezoelectric drive device, the piezoelectric drive device including:
• a single vibrating plate, an outer periphery of the single vibrating plate being in a longitudinal rectangular shape having top and bottom surfaces, first and second sides opposite to each other, and third and fourth sides opposite to each other, the first and second sides being longer than the third and fourth sides, the single vibrating plate having a plurality of through-holes;
• and
• a plurality of piezoelectric drive units that are disposed on the single vibrating plate, each of the plurality of piezoelectric units having:
• a set of piezoelectric elements that are provided on one of the top and bottom surfaces of the single vibrating plate;
• and
• a projection that is configured to contact one of the plurality of links so as to drive one of the plurality of links with respect to one of the plurality of joint,
• wherein the plurality of projections of the plurality of piezoelectric drive units are all outwardly projected from the first side of the single vibrating plate and are all provided only along the first side of the single vibrating plate,
• the plurality of through-holes are located along an outer edge of each of the set of piezoelectric elements in a plan view,
• wherein the number of the plurality of piezoelectric drive units is at least 10,
• wherein an overall output from the plurality of piezoelectric drive units is at least 0.3 W when 180 V is applied to the plurality of piezoelectric drive units so that the single vibrating plate is deformed inside a plane of the single vibrating plate, and
• wherein a weight of each of the plurality of piezoelectric drive units is 1 μg to 5 g.