The invention relates to a linear and rotary type actuator. The linear and rotary type actuator comprises a base; a first linear motor is disposed on the base and includes a first fixed coil group anda first movable magnet back plate; a second linear motor is disposed on the base and includes a second fixed coil group and a second movable magnet back plate; a first linear track is fixed on the base; and a ball screw includes a screw rod and a nut, wherein the screw rod is connected with the first magnet back plate and is coupled to the first linear track, and the nut is connected with the second magnet back plate and is coupled to the first linear track; when the screw rod and the nut are driven by the first linear motor and the second linear motor to move synchronously along the first linear track, the actuator provides linear motion output; and when the nut is driven by the second linear motor to move along the first linear track and move in an asynchronous manner relative to the screw rod, the actuator provides rotary motion output.