A vibration type motor has a vibrator; a frictional member, a pressurization unit that causes the vibrator and the frictional member to come into pressure-contact with each other, a retaining member that retains the frictional member, and a fixing unit that fixes the friction member to the retaining member, and the vibrator and the frictional member make relative movement by the vibrator being vibrated. The frictional member has a first area including an area that contacts the vibrator and a second area including an area that is retained by the retaining member. A size of the first area in an orthogonal direction that is orthogonal to both the direction of the relative movement and a pressure direction of the pressurization unit is smaller than a size of the second area in the orthogonal direction.

A vibration type motor includes a limiter configured to limit a distance between a movable guide member and a fixed guide member. The limiter has first, second, and third limiting areas. The first limiting area is disposed between the first roll member and the second roll member in the second direction. The second limiting area is disposed on the same side as the second roll member with respect to the first roll member and distant from the second roll member in the second direction. The third limiting area is disposed on an opposite side of the second roll member with respect to the first roll member in the second direction. A length of the first limiting area in the first direction is equal to or longer than that of each of the second limiting area and the third limiting area in the first direction.

A vibration type motor relatively moves in a first direction a vibrator whose vibration is excited by an electromechanical energy conversion element and a contact member configured to contact the vibrator and includes a vibrator holder configured to hold the vibrator, a holding mechanism configured to hold the vibrator holder so as to restrict a displacement of the vibrator holder in the first direction and to enable the vibrator holder to be displaced in a direction orthogonal to the first direction, a press mechanism configured to press the vibrator against the contact member in the second direction, and a damper configured to contact a plurality of components among the vibrator holder, components of the holding mechanism, and components of the press mechanism.

The present disclosure provides a biomimetic mobile legged robot, which includes a body formed to extend in one direction and having a piezoelectric element, and a leg connected to intersect the body and having a piezoelectric element. Here, a power is supplied to the body and the leg, respectively, and the piezoelectric elements of the body and the leg are operated with the supplied power to cause a full body motion so that the legged robot moves.

A vibration wave motor includes a vibrator including a piezoelectric device and a vibration plate, and a friction member, wherein the vibrator and the friction member are pressurized to contact each other, and the vibrator is vibrated by the piezoelectric device to be moved relative to the friction member. The motor further includes a guide member that guides relative movement between the vibrator and the friction member, a fixing member that fixes the guide member at a first position and a second position in a direction of the relative movement between the vibrator and the friction member, and an attenuation member held between the friction member and the guide member in a pressure direction in which the vibrator and the friction member are pressurized to contact each other at a location between the first position and the second position.

A non-contact force type micro-rotating mechanism driven by attractive/repulsive force and a manufacturing method thereof, belongs to the field of intelligent micro devices, and mainly relates to micro electromechanical system technology, precision machining technology, precision assembly and the like. The mechanism adopts the interaction force between magnetic poles to replace the connection mode of a traditional through-hole bearing pressure spring positioning shaft, so that the component part structure of the mechanism can be optimized, and the space utilization rate can be greatly improved. Moreover, the attractive force type structure also has the effect of weakening the radial vibration of the motor, and the coaxiality of the rotor and the stator is improved in the running process of the motor. Meanwhile, the rotating mechanism does not directly output shaft work, a structure can be added on the disc-shaped rotor to realize different functions, an actuator and a control object are integrated.

A vibration wave motor includes a vibrator including an electrical-mechanical energy conversion element and an elastic member, a contact member in contact with the elastic member, and a supporting member that supports the vibrator, wherein the supporting member supports an outer periphery portion of the vibrator so as to be movable along a direction in which the vibrator is pressed toward the contact member, and selectively supports a node of a vibration of the vibrator.

A vibration-type actuator that can suppress variation in pressing force and reaction force on vibration bodies and contact bodies. The vibration-type actuator comprising vibration body units each including a vibration body including an elastic body and an electro-mechanical energy conversion element, and a contact body contacting with the vibration bodies, wherein the contact body and the vibration bodies relatively move in a predetermined direction, a first vibration body unit, including at least one of the vibration body units, includes a restriction unit configured to fix the first vibration body unit and restrict a degree of freedom in the predetermined direction, and a second vibration body unit, including at least one of the vibration body units, includes a supporting guide unit configured to support the second vibration body unit while the second vibration body unit being movable in a direction orthogonal to the predetermined direction.

A motor includes a vibrator, a plurality of pressing members that presses the vibrator onto a contacting member in contact with the vibrator, a transmission member that transmits pressing force, which is applied by the plurality of pressing members, to the vibrator, a first holding member that holds the vibrator, a second holding member that holds the transmission member, and a coupling member that couples the first holding member to the second holding member. The vibrator and the contacting member move relatively by vibrations that occur in the vibrator. The vibrator includes a protruding part that is provided on a surface opposite to a surface on a transmission member side. The pressing members are arranged separately to surround the protruding part. The coupling member is arranged at a position closer to the protruding part than the pressing members.

A vibration actuator, which is capable of being miniaturized or obtaining stable drive performance, moves a vibration body and a contact body relatively. The vibration actuator includes a support member that supports the vibration body. The support member includes a vibration section joined to the vibration body, a first fixing section and a second fixing section that are provided on opposite sides of the vibration body for fixing the support member at a predetermined position, a first support section that connects the vibration section with the first fixing section to support the vibration body, a second support section that connects the vibration section with the second fixing section to support the vibration body, and conduction members that extend from the vibration body to the first fixing section, extend from the vibration body to the second fixing section, and supply electric power to the vibration body.