本文提出了利用柔性机械臂的柔性并通过压电驱动器实施精密定位，实现微位移和微力操作的思想．为此针对二连杆柔性机械臂建立了其微位移、微力操作的解析模型，并理论和仿真分析其可达作业空间能力及其可操作性．通过应用例子仿真研究表明方法的有效性，拓宽了压电驱动器应用于柔性机械臂振动控制的思想 In this paper, the idea of ​​using the flexibility of a flexible manipulator and implementing precise positioning through a piezoelectric actuator to achieve micro-displacement and micro-force operation is put forward. To this end, the analytical model of micro-displacement and micro-force operation is established for the two-link flexible manipulator, and the theoretical and simulation analysis of its reachability and operability. The simulation results show that the method is effective and broaden the application of piezoelectric actuator in the vibration control of flexible manipulator