Abstract: 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(2 μrad), high rotating step(146.36 μrad), 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.

Key words: asymmetrical gripper, friction, inertia, piezoelectric bimorph, rotary actuator