Piezoelectric drive device and robot

A piezoelectric drive device comprising:

• a rotor having a driven part and rotating around a rotation axis;
• a vibrating unit having a piezoelectric element and applying a drive force for rotating the rotor to the driven part by displacement of the piezoelectric element;
• and
• a bearing supporting the rotor, wherein
• the driven part has a first portion, a second portion, and a third portion sequentially connected in the order from the rotation axis toward an outer circumference side of the rotor,
• the first portion has a predetermined region along an axial direction of the rotation axis and coupled to an inner ring of the bearing within the predetermined region,
• the second portion overlaps with the bearing in a plan view from the axial direction, and
• the third portion has a contact surface in contact with the vibrating unit at an inner side of both ends of the predetermined region in a plan view from a direction perpendicular to the axial direction.