Fig. 1. Motor structure

Fig. 2. Stator drive morphology under different modes

Fig. 3. Driving foot movement analysis

Fig. 4. Distribution of drive feet in B₃ and B₄ modes

Fig. 5. Stator structure

Fig. 6. Mode shapes and characteristic frequencies of stator B1 to B6

Fig. 7. Stator structure and dimension annotation

Fig. 8. Variation of characteristic frequency with optimization parameters

Fig. 9. Dynamic response curves of particle amplitude on stator driven foot surface

Fig. 10. Y and Z direction amplitude response of drive foot particle

Fig. 11. Motion trajectory of drive foot particle

Fig. 12. Contact simulation model

Fig. 13. Contact simulation results under two driving modes

Fig. 14. Physical map of stator

Fig. 15. Impedance characteristic curves of stator

Fig. 16. Testing device of drive performance

Fig. 17. Preload and no-load velocity curves

Fig. 18. Load-output speed curves