中文摘要：

研制以自由端带有集中质量的悬臂式压电双晶片为驱动单元的新型惯性冲击式2自由度精密驱动器。建立基于Karnopp摩擦模型的驱动器动力学模型，对驱动器动态特性进行仿真分析和试验对比研究。提出压电双晶片型惯性冲击式精密驱动器特定的定频调压驱动方法。仿真分析结果和试验结果吻合较好，表明该动力学模型符合驱动器的动态特性，可用于对压电双晶片型惯性冲击式2自由度精密驱动器的理论分析。

英文摘要：

A new 2-DOF positioning device driven by impact force of end-loaded piezoelectric cantilever bimorphs is proposed. Prototype of the positioning device is fabricated. Dynamic model of the impact drive positioning device based on Karnopp friction model is set up. According the results of simulation and experiments to the dynamic characteristics of the positioning device, a certain method of fixed-frequency and adjustable-amplitude is confirmed to control the positioning device. That the simulation results agree well with the experimental results indicates that the dynamic model is capable of doing precise analysis for the positioning device.