The clamping mechanism of inchworm actuators possesses four developing types:active clamp,wedge clamp,wedge roller clamp and nut-screw clamp.

• 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；