To improve the output force and output force fluctuation of the macro-macro composite actuator,a combination of the Halbach array arrangement of permanent magnets and the addition of an auxiliary yoke to change the relative position of the macro-motion coil to the permanent magnets was used.To verify the effectiveness of the optimization scheme,finite element electromagnetic field simulations were used to analyze the change in output force before and after the optimization of the macro-micro composite actuator,and the optimum size of the permanent magnets for the Halbach array was gotten to increase the output force and reduce the output force fluctuation.Finally,the experimental platform was built to verify the rationality of the optimization scheme.The results show that the optimized solution not only enables the macro-micro composite actuator to achieve an output force of around 95 N at 4 A current levels,but also reduces the output force fluctuations to around 23 N.The rationality of the optimization scheme is verified.