中文摘要：

以惯性压电旋转驱动器为研究对象,对比研究了非对称式惯性压电旋转驱动器和变摩擦力式惯性压电旋转驱动器的运动特性。分析了两种驱动器的工作原理,设计、制作了试验样机,搭建了测试系统并对两种压电旋转驱动器进行了对比试验测试。结果显示：在8Hz方波电信号的激励下,非对称式压电驱动器的旋转步距大于变摩擦力式旋转驱动器;当驱动电压为100V时,非对称式与变摩擦力式压电驱动器的回退率分别为73.19%、65.67%;在40V、8 Hz的方波激励下,非对称式与变摩擦式压电驱动器的线性度残差平方和与重复性标准差分别为0.031、0.069与0.011、0.063。试验结果表明：与变摩擦力式驱动器相比,非对称式驱动器的输出步距及回退率更大,具有较高的线性度和重复性。

英文摘要：

This study focuses on piezoelectric inertial rotary actuators.The motion characteristics of two kinds of piezoelectric inertial rotary actuators based on asymmetrically clamping structures and changing frictional force were researched.The working principles of two types of actuators were introduced and expounded.To test the performance of the actuators,two prototypes were fabricated and an experimental system was set up.Tested experiments show that the average output stepping angle of the actuator with the asymmetrically clamping structures is bigger than that of the actuator based on the changing frictional force under a square wave signal of 8Hz,and the rollback rate in each step of the two types reaches 73.19% and 65.67% under a drive voltage of 100 V,respectively.The linearity residual square sum and the repeatability standard deviation are 0.031,0.069 for the actuator based on the asymmetrically clamping structures,while 0.011、0.063 for the actuator based on the changing frictional force.Experimental results indicate that the average output stepping angle,rollback rate in each step,linearity and repeatability of the former are all greater than those of the latter.