Rotary ultrasonic motor based on drive of four-tuning fork type piezoelectric vibrator and working mode

The invention discloses a rotary ultrasonic motor based on the drive of a four-tuning fork type piezoelectric vibrator and a working mode. A stator assembly is installed between a rotary assembly anda supporting seat assembly; the rotary ultrasonic motor is driven by utilizing a specific two-phase working mode of the stator assembly, wherein an out-plane antisymmetric bending vibration mode is used for realizing the contact and separation between the rotary assembly and the stator assembly, and in-plane antisymmetric bending vibration modes are used for realizing the rotary movement of a rotor driving the rotary assembly around a rotating shaft. By adopting the rotary ultrasonic motor, the precise rotary motion can be outputted, and the motor has rapid response characteristic; and a largerotary torque can be outputted, so that the motor has large power intensity, and the rotary ultrasonic motor can be widely used for the precise rotary driving and for driving a small-sized and a micro servo execution mechanis