The invention discloses a piezoelectric joint ball motor used for vibration suppression and shape conformal control of a space truss. Three traveling wave stator parts, a rotor part and a self-lockingpart are all mounted on the truss part, and three traveling wave stator parts, the rotor part and the self-locking part constitute the main body part of the articulated sphere motor, and the truss part is the control object of vibration suppression; The truss member includes a first truss and a second truss, and each traveling wave stator member includes a piezoelectric vibrator, a helical leaf spring, and a star bracket; The rotor component comprises a connecting screw and a spherical rotor; The self-locking parts include supporting bearings, bearing sleeves, screws, tapered spline grooves,tapered spline sliders, return springs and self-locking motors. The spherical rotor can rotate around itself with multiple degrees of freedom under the action of three piezoelectric traveling wave vibrators. The piezoelectric joint ball motor of the invention has the advantages of high power density, large self-locking torque, no interference from space electromagnetic environment and the like.