中文摘要：

介绍了一种超声振动驱动的二自由度行波型超声波球电机的结构和机理，给出了其研制过程中若干关键问题的解决方案，阐述了实现其运动位姿控制采用的结构及控制方式，最后探讨了此类电机在空间机构的若干应用及所需解决的一些问题。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120mNm，空转转速12r／min，且各方向运转平稳，输出性能比较一致。该电机可用于各类空间机构。

英文摘要：

The principle, basic structure of 2DOF ultrasonic motor drived by ultrasonic vibration are presented in this paper. Means for some key issues of 2DOF motor in the process of development are introduced. The structure and the method for controlling the location and stance of 2DOF motor are expatiated. Then the applications of the motor and some issue to be resolved are discussed. We have successfully developed this kind of motor： it has φ45mm rotor, φ30mm stator; the maximum output torque reaches 120 mNm; the maximum speed is 12 r/min. The motor works smoothly, and the output is consistent, can be applied to various space structures.