摘  要：按箝位方式对尺蠖驱动器进行分类。介绍了尺蠖驱动器箝位机构从主动箝位到楔箝位再到楔辊子箝位以及螺旋楔箝位的发展过程；指出传统主动箝位的不足及楔箝位和楔辊子箝位各自的优缺点；介绍了螺旋楔箝位的特点及需要完善发展的方向，指出离合器箝位型尺蠖驱动器是高性能精密直线驱动器的一个重要发展方向。
关键词：尺蠖驱动器;离合器;被动箝位;螺旋楔箝位；直线电机

Abstract: Inchworm actuators are classified by the clamping mechanism.The clamping mechanism of inchworm actuators possesses four developing types:active clamp,wedge clamp,wedge roller clamp and nut-screw clamp.Pointed out the shortcomings of traditional active clamp,also presented the advantages and disadvantages of wedge clamp and wedge roller clamp.Introduced the characteristics and future research directions of nutscrew clamp,Made a conclusion based on the development process.This kind of inchworm actuator will become an important one of high performance precision linear actuators.
Key Words: Inchworm actuator;Clutch;Passive clamp;Nut-screw clamp;Linear motor