Abstract: Based on the development of the double-stator motor, a novel force balanced double-stator axial piston motor was designed. Analyzing its structure and working principle, the theoretical displacement of the new type motor was calculated. In order to get the performance of the hydraulic motor, the influence of torque pulsation between odd number and even number of slider was studied through the calculation of instantaneous torque of the motor, the relationship between the uniformity coefficient and the number of piston was also obtained. The result shows that torque ripple is more smooth in odd number piston than in even number, and the instantaneous torque ripple of the motor decreases with the number of piston increases.