“…Based on piezoelectric composite structure, traveling wave type rotary ultrasonic motor (TRUM) shows a wide application prospect in the field of micro-actuators, precision driving stage and electro-optic modulators, and has gained increasing attention from many researchers [Ueha, 1988;Parashar et al, 2005;Sapsathiarn et al, 2014]. Depending on the piezoelectrically induced vibration in composite structure and contact mechanism, TRUM has a high ratio of torque to weight, excellent electromagnetic compatibility, compact size and fast response while the rotor is pressed on the piezoelectric composite structure (usually called stator), so that it has many advantages over the conventional actuator in some applications such as auto focus camera lenses, precise positioning and robot actuation [Zhao, 2009;Jeon et al, 2014].…”