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One critical problem that restricts their industrial application is the lack of scalable fabrication techniques due to the limitation of conventional machine tools. This study proposes a scalable surface texturing technique using a portable small (30\u2009\u00d7\u200919\u2009\u00d7\u200922\u2009mm) three\u2010leg robot that walks and works on the workpiece surface. Due to the elliptical tool vibration, microgrooves can be created on the workpiece surface periodically; meanwhile, the machining force drives the robot to walk forward. Surface texturing experiments are conducted on aluminum and copper workpieces to explore the machining performance of the small robot. The robot can reach a maximum moving velocity of 6.3\u2009mm\u2009s<jats:sup>\u22121<\/jats:sup> and can produce microstructures with a spacing of 4\u201314\u2009\u03bcm on workpiece surfaces. Owing to its unique working principle, the small robot can maintain a constant depth of cut, demonstrating its capacity to adapt to the surface waviness of the workpiece. Finally, the motion straightness of the robot is greatly improved by combining it with the auxiliary track, and multiline microstructures are obtained. In short, the developed small robot presents a promising solution to the challenge of scalable surface texturing.<\/jats:p>","DOI":"10.1002\/aisy.202400322","type":"journal-article","created":{"date-parts":[[2024,10,21]],"date-time":"2024-10-21T07:44:58Z","timestamp":1729496698000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":3,"title":["Portable Machine Tools by Small Piezoelectric Robots for Scalable and Waviness\u2010Adaptive Fabrication of Surface Microstructures"],"prefix":"10.1002","volume":"7","author":[{"ORCID":"https:\/\/orcid.org\/0009-0007-2878-8919","authenticated-orcid":false,"given":"Peiyuan","family":"Ding","sequence":"first","affiliation":[{"name":"State Key Laboratory of Tribology in Advanced Equipment, Department of Mechanical Engineering Tsinghua University  Beijing China"},{"name":"State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jianfu","family":"Zhang","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Tribology in Advanced Equipment, Department of Mechanical Engineering Tsinghua University  Beijing China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Pingfa","family":"Feng","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Tribology in Advanced Equipment, Department of Mechanical Engineering Tsinghua University  Beijing China"},{"name":"Beijing Key Laboratory of Precision\/Ultra\u2010precision Manufacturing Equipments and Control, Department of Mechanical Engineering Tsinghua University  Beijing 100084 China"},{"name":"Division of Advanced Manufacturing, Tsinghua Shenzhen International Graduate School Tsinghua University  Shenzhen 518029 China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Xiangyu","family":"Zhang","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Tribology in Advanced Equipment, Department of Mechanical Engineering Tsinghua University  Beijing China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8244-0760","authenticated-orcid":false,"given":"Jianjian","family":"Wang","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Tribology in Advanced Equipment, Department of Mechanical Engineering Tsinghua University  Beijing China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"311","published-online":{"date-parts":[[2024,10,21]]},"reference":[{"key":"e_1_2_9_2_1","doi-asserted-by":"publisher","DOI":"10.1364\/AO.48.004177"},{"key":"e_1_2_9_3_1","doi-asserted-by":"publisher","DOI":"10.1007\/s40820-016-0125-1"},{"key":"e_1_2_9_4_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.matt.2019.05.012"},{"key":"e_1_2_9_5_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.pmatsci.2021.100823"},{"key":"e_1_2_9_6_1","doi-asserted-by":"publisher","DOI":"10.1038\/s41598-020-76573-6"},{"key":"e_1_2_9_7_1","first-page":"434","volume":"2","author":"Wang J.","year":"2021","journal-title":"Light: Adv. 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