Based on the positive and inverse coupling magnetostrictive effects and energy conversion characteristics of giant magnetostrictive material (GMM), a new concept of a self-aware harmonic actuator integrating drive, transmission and sensing is proposed. The stress distribution of the wave generator during the running of the actuator is analyzed with ANSYS, and the size parameters of the GMM rod are calculated with the dimensional structure of the wave generator taken into consideration.Based on Biot-Savart law, the internal magnetic field of the drive coil is deduced. Subsequently, the arrangement of driving magnetic field and bias magnetic field is designed. A coupling model of the electrical, magnetic, and mechanical fields of the actuator is built by using COMSOL Multiphysics, with which the distribution of the internal magnetic field and displacement output characteristics under different conditions are analyzed. The results show that with the number of permanent magnets increasing, the uniformity of the magnetic field is reduced from 44% to 26%, the maximum output displacement decreases from 0.123 mm to 0.114 mm, and the GMM rod stress distribution uniformity is significantly improved.