中文摘要：

设计了一种新型非对称夹持压电旋转驱动器。通过对称性电信号激励粘贴在基板上的压电晶片，使基板自由端带动质量块非对称地往复摆动，进而产生非对称的惯性驱动力，实现压电旋转驱动器的定向运动。研制了非对称压电惯性旋转驱动器样机，搭建了驱动器的测试系统，对驱动器步长、摩擦力矩、载荷特性等进行了测试。结果表明，驱动器在电压为15V、频率为10HZ、夹持差为3mm时，步长分辨率为1．82肚rad，摩擦力矩为2．475N·mm条件下的最大输出载荷为0．122N。

英文摘要：

A novel piezoelectric inertial rotary actuator was presented herein based on asymmetric clamping mechanism. The actuator can achieve unidirectional rotation movement by the reciprocating swing of the masses to produce asymmetric inertial impact force when the piezoelectric bimorph pasted on the substrate was applied to the symmetric electrical signals. A prototype was fabricated and a se- ries of experiments were conducted to evaluate its performance in terms of angular displacement, fric- tion torque, and load characteristics. The results show that the angular displacement resolution of 1. 82μrad is obtained by applied square wave of 15 V, frequency of 10 Hz under the clamping difference of 3 mm and maximum output load is 0.122 N under the friction torque of 2.475 N ~ mm.