PIEZOELECTRIC DRIVE DEVICE AND ROBOT

To provide a piezoelectric drive device which can be downsized in an opposite direction of a drive force transmission part, and a robot.SOLUTION: A piezoelectric drive device 1 comprises: a vibrator 2 including a vibration part 21 including piezoelectric elements 2a-2f and a drive force transmission part 28 disposed in the vibration part 21 and transmitting a drive force to a driven part (rotor 100); and a spring part 4 including compression springs 43 and 44 energizing the drive force transmission part 28 toward the rotor 100. The vibrator 2 and the spring part 4 are overlapped in a planar view in a direction orthogonal to a vibration plane 20 of the vibration part 21.SELECTED DRAWING: Figure 2 【課題】駆動力伝達部とは反対方向での小型化が可能な圧電駆動装置とロボットとを提供する。【解決手段】圧電駆動装置１は、圧電素子２ａ～２ｆを有する振動部２１と、振動部２１に配置されて被駆動部（ローター１００）に駆動力を伝達する駆動力伝達部２８と、を有する振動体２と、駆動力伝達部２８をローター１００に向けて付勢する圧縮バネ４３，４４を有するバネ部４と、を備え、振動部２１の振動面２０に直交する方向からの平面視で、振動体２とバネ部４とが重なっている。【選択図】図２