Abstract: 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 experi-mental results indicates that the dynamic model is capable of doing precise analysis for the positioning device.

Key words: Dynamic simulation, Friction, Impact drive, Piezoelectric bimorph, Precision positioning