The invention provides a force and position hybrid control double-drive clamping mechanism. The mechanism comprises a main slide rail, a clamping hand with two clamping pieces for matching to performthe clamping work, and two drivers, wherein the two drivers are correspondingly matched with the two clamping pieces one to one; the two drivers control the torque magnitudes of the clamping pieces corresponding to the drivers to control the position movement of the clamping pieces on the main slide rail at different speeds; the change of the clamping strength of the clamping pieces is realized through controlling the positions of the clamping pieces, so that the force and position hybrid control of the clamping pieces is realized, and the clamping stability is improved; and new customizationof clamping tools is not needed according to special application environments, so that the workhour of renewedly customizing the clamping tools is reduced, and the working efficiency is improved.