K.N. Toosi University of Technology International Journal of Robotics, Theory and Applications 2008-7144 10 1 2024 12 01 Modeling and Sensitivity Analysis of Stick-Slip Piezoelectric Rotary Inertia Motor 11 21 206059 EN Mohammad Azadkhani Mechanical Engineering Department, Amirkabir University of Technology Fatemeh Karimi Mechanical Engineering Department, Amirkabir University of Technology Hamed Ghafarirad Mechanical Engineering Department, Amirkabir University of Technology Mohammad Zareinezhad New Technologies Research Center, Amirkabir University of Technology Journal Article 2024 06 18 This paper presents a comprehensive investigation about piezoelectric inertia motors. The study progressed with the meticulous fabrication of a rotational piezomotor, allowing for empirical data collection. A mathematical model was then developed, and system parameters were identified. A comparative analysis revealed significant improvements in model accuracy when Lu-Gre friction was employed, reducing the root mean square error (RSME) by approximately six-fold compared to previous models using Coulomb friction. Following model validation, a sensitivity analysis assessed the impact of parameter variations—specifically voltage, frequency, friction coefficient, and duty ratio—on the motor's performance. It provides valuable insights into how the physical parameters influence the motor's movement. Results indicated that the duty ratio had the most substantial effect on rotor speed, followed by frequency and voltage, while an inverse relationship was found between the friction coefficient and rotational speed. https://ijr.kntu.ac.ir/article_206059_63b17787c14d33a2dd71ca4e267db914.pdf