中文摘要：

二自由度行波型超声波电机是一种新型多自由度超声波电机，其电机结构较复杂和实现相对困难，但其又具有独特的优点。从二自由度行波型超声波电机的驱动机理和基本结构出发，阐述此类电机所需要解决的一些基本问题，并就电机的结构实现、驱动球转子的最佳定子结构以及调谐问题进行了分析和介绍，具体提出了对心对中调节机构、外缘大倾角内缘线接触的行波定子、以及微调定子外缘倾角的调谐方法。研制样机的球转子直径为45mm，定子直径为30mm，实现的堵转力矩为119mNm，空转转速12r／min，且各方向运转平稳，输出性能比较一致，为多自由度行波型超声波电机的优化设计、性能提高和控制等奠定了一定基础。

英文摘要：

Two degree-of-freedom spherical traveling wave type ultrasonic motor is a multi degree-of-freedom ultrasonic motor. Its structure is complex and difficult to be realized, but it has its merit. The driving principle and basic structure of this kind of spherical ultrasonic motor are firstly introduced, then some basic problems of motor are to be presented. Then structure of motor and optimal structure of stator and tuning devices are to be explained. Then this paper presents centering adjustment device and stator with big rake angle on outer edge and small rake angle on inner edge and tuning method of adjusting rake angle on outer edge of stator. The diameter of prototype motor is 45ram in rotor and 30mm in stator and maximum output torque is 119mNm, maximum speed is 12r/min. From the above discussion and practical experiments availability of devices is to be verified. Results are used for designing theory and performance improvement of two degree-of-freedom spherical traveling type ultrasonic motor