中文摘要：

以惯性压电旋转驱动器为研究对象,提出一种新型非对称夹持惯性压电旋转驱动器的研究方案。该驱动器以压电双晶片振子为驱动元件,采用对称方波电信号为激励信号。通过特殊设计的非对称夹持结构,惯性压电旋转驱动器可产生明显的惯性驱动力差,实现单向旋转动运动。建立基于Lugre摩擦模型的压电旋转驱动器动力学仿真模型,对压电旋转驱动器动态特性进行仿真分析,进一步设计研制非对称夹持惯性压电旋转驱动器样机,进行试验研究,试验证明研制的样机可以实现大行程（360°）、高分辨率（2μrad）、高旋转步长（146.36μrad）的稳定转动。仿真分析和试验研究结果吻合较好,表明研制的非对称夹持惯性压电旋转驱动器具有定向驱动作用。

英文摘要：

Based on piezoelectric inertial rotary actuator, a research program of a new piezoelectric inertial rotary actuator utilizing asymmetrical gripper is proposed. The actuator takes piezoelectric bimorph vibrator as driving element, and adopts symmetrical square wave as exciting signal. Through the special design of asymmetric clamping structure, piezoelectric inertial rotary actuator utilizing asymmetrical gripper can produce significant driving force of inertia, and achieve unidirectional rotation movement. Dynamic model of the rotary actuator based on Lugre friction model is set up, the dynamic characteristics of rotary actuator is studied by simulation. Piezoelectric inertial rotary actuator utilizing asymmetrical gripper is further designed and developed, and experimental research on it is implemented. The investigation indicates that the developed prototype is characterized by large travel（360°）, good resolution（2μrad）, high rotating step（146.36μrad）, and work stability. By comparing experiment data with the simulation results, the result from which shows a very good coherence. It indicates that the developed impact drive rotary actuator by piezoelectric bimorphs with asymmetrical gripper realize the directional movement.