Electromechanical motor

An electromechanical motor system comprising:

• an electromechanical motor having
• an actuator assembly,
• a body, relative to which said actuator assembly is to be acting for causing a relative displacement of said body in a driving direction,
• said actuator assembly having an actuator backing, a first actuator and a second actuator,
• said first actuator is mechanically attached by a single attachment,
• said single attachment of said first actuator is a first attachment to said actuator backing, said first attachment being provided at a first end of said first actuator,
• said first actuator having a first interaction portion constituting a second end of said first actuator, said second end of said first actuator being opposite to said first end of said first actuator in an actuator direction,
• said second actuator is mechanically attached by a single attachment,
• said single attachment of said second actuator is a second attachment to said actuator backing, said second attachment being provided at a first end of said second actuator,
• said second actuator having a second interaction portion constituting a second end of said second actuator,
• said second end of said second actuator being opposite to said first end of said second actuator in said actuator direction,
• said actuator direction being transverse to said driving direction,
• said first interaction portion and said second interaction portion being arranged for interaction with an interaction surface of said body by a respective contact area,
• said first actuator and said second actuator comprise a respective member comprising an electromechanical material arranged between a respective said first end and a respective said second end of said first actuator and said second actuator,
• each of said members that comprises an electromechanical material being arranged for causing a one-dimensional movement forth and back of a respective said contact area as a response of a respective single electrical signal,
• said respective one-dimensional movements are transverse to said actuator direction, transverse to said driving direction, as well as transverse to each other,
• each of said members that comprises an electromechanical material comprises an active volume, exhibiting a change in dimension as a response of said single electrical signal applied thereto, and a passive volume mechanically attached to a respective said active volume along said actuator direction,
• said active volume of said first actuator is positioned before said passive volume in said driving direction, and
• said active volume of said second actuator is positioned after said passive volume in said driving direction;
• and
• a power supply, connected to said electromechanical motor and arranged to provide at least two non-identical electrical signals for excitation of said members that comprise an electromechanical material.

A method for driving an electromechanical motor having a first interaction portion and a second interaction portion arranged for interacting with a body, said method comprising the steps of:

• providing a first electrical signal for exciting a member comprising an electromechanical material attached to said first interaction portion;
• and
• providing a second electrical signal for exciting a member comprising an electromechanical material attached to said second interaction portion;
• said first electrical signal is different from said second electrical signal;
• each of said members that comprises an electromechanical material comprises an active volume that exhibits a change in dimension as a response to said first and second electrical signals respectively applied thereto, and a passive volume mechanically attached to a respective said active volume along an actuator direction;
• said first electrical signal and said second electrical being arranged for causing at least one of said first interaction portion and said second interaction portion to be in contact with said body during driving;
• said first electrical signal causes said member that comprises an electromechanical material of said first interaction portion to move a contact area of said first interaction portion forth and back in a first one-dimensional movement direction transverse but not perpendicular to a driving direction, said driving direction being an intended forward travel direction of said body relative to said first interaction portion and said second interaction portion;
• and
• said second electrical signal causes said member that comprises an electromechanical material of said second interaction portion to move a contact area of said second interaction portion forth and back in a second one-dimensional movement direction transverse to said driving direction, said second one-dimensional movement direction being transverse to said first one-dimensional movement direction.