Inchworm type actuator of piezoelectric crude fibers and piezoelectric stacks and actuating method thereof

The invention discloses an inchworm type actuator of piezoelectric crude fibers and piezoelectric stacks and an actuating method thereof. The actuator is composed of the piezoelectric crude fibers, an arc panel, diamond rings, piezoelectric stacks, pin bolts and an outer framework; the piezoelectric crude fibers are adhered to the arc panel; the two ends of the arc panel are connected with one diamond ring respectively through the pin bolts; the piezoelectric stacks are placed between long axes of the diamond rings; when the piezoelectric stacks are not electrified, the two ends of the short axis of each diamond ring are in tight contact with the outer framework and are in a clamping state; electricity for two piezoelectric stacks and piezoelectric crude fibers are put through and cut off in sequence, the two diamond rings are clamped with or unclamped from the outer framework according to a sequence; and the piezoelectric crude fibers and the arc panel are bent and move together in an inchworm manner so as to realize bidirectional marching type force outputting and displacement. The actuator disclosed by the invention has the characteristics of power-off clamping, good flexibility and durability, small volume and light weight.