The work presented in this thesis concerns the design and modeling of piezoelectric actuators with high force in translation and rotational movements. A comparative study of the various actuators structures highlighted the interesting electromechanical potential of cylindrical rotating mode motor. This motor has been then studied in order to obtain an analytical model by using Mason diagrams and variationnal principles. This last approach has also been used to find the electromechanical parameters of the motors with FEM simulations (ANSYS). Two phases and single phase motors have been realized and have validated the developed models. Their associated resonant supplies were also studied. Next, an additional degree of freedom in translation has been added to the rotating mode motor. An original Inchworm principle has allowed to uncouple this function from the resonant rotary movement. This principle has been validated thanks to a prototype realized in the laboratory. A ZVS-PWM inverter has also been achieved in order to generate the waveforms with a broad frequencies band (DC to several tens of kHz).
