In order to enhance the efficiency and velocity of the traditional piezoelectric vibrators for driving tracks, the operating mode of the piezoelectric vibrator is improved. The new operating mode uses the torsional vibration of the annular part of the piezoelectric vibrator instead of the bending vibration. Then, two torsional standing waves synthesize a torsional traveling wave. The new mode is more suitable for the piezoelectric vibrator to drive the track,and enhances the piezoelectric vibrator′s driving efficiency, which increases the contact area between the piezoelectric and track and reduces energy waste generated by the contact between the troughs of the traveling waves in the annular parts and track. The piezoelectric vibrator is designed using FEM analysis, and the prototype is manufactured. After that, experiments on contact and friction behavior are conducted. Based on the study of the velocity of the piezoelectric vibrator with different pre-pressures under track material surfaces with different levels of hardness and roughness, it can be found that the hardness of the material is greater, and the load capacity of the piezoelectric vibrator is stronger. There is an optimized collocation between hardness, roughness and pre-pressure, which will make the piezoelectric vibrator arrive at maximum velocity. The research results subsequently lay a foundation for the design of the track and the integral optimization of the driving system.