This paper focuses on the structure design of liner ultrasonic motors. The mechanical model of stators with flexible clamping components was established according to the design criterion for clamps of liner ultrasonic motors. Then the influence rules of tangential and normal rigidities of the clamping components on the normal pressures and tangential friction forces of stators and actors on a contact interface were researched and analyzed by finite element software. Finally, a new type clamping method with enough tangential rigidity was put forward, and the corresponding V-shape ultrasonic motor with beam type clamp components was designed. The output performance of the designed V-shape ultrasonic motor was compared with the original V-shape liner ultrasonic motor with flexible cambered clamp components. And the results show that the maximum output force of the designed motor reaches 37 N, 1.7 times as high as that of the original motor, and the maximum no-load speed is 1.4 m/s, 4.6 times as fast as that of original one. The concludes indicate that enhancing tangential rigidity is conducive to increasing the output force and velocity of the motor. The V-shape liner ultrasonic motor with beam type clamp components has great output performance and stability.