The asymmetrical rotated piezoelectric actuator is mainly driven by sawtooth wave- a kind of asymmetrical wave. Focused on the disability of symmetrical wave drive

a new kind of asymmetrical gripper mechanism is designed

which is used to fix the piezoelectric cantilever bimorphs. Based on the principle of the converse piezoelectric effect

using symmetrical wave to drive the piezoelectric cantilever bimorphs is proposed. The piezoelectric cantilever bimorphs get inertial impact force on which symmetrical wave acts

by which the rotated actuator is driven. The dynamic model of the rotated actuator is constructed

whose movement principle is analyzed

too. Experiment testing system is built and the rotated actuator’s velocity characteristics under different frequencies and voltages are tested. The results show that the asymmetrical rotated piezoelectric actuator realizes stable and forward direction movement. When the voltage is 20V and the frequency is 2Hz square wave

its average step is up to 12μrad and the rotation velocity is up to 24μrad/s. The rotated actuator’s maximum stroke is 360°

carrying capacity reaches to 300g

resolving capability is 5rad

and rotation velocity achieves 4000rad/s.