Utilizing the inherent advantages of the piezoelectric driving technology, such as good adaptability to vacuum environment and no electromagnetic interference, a novel self-moving framed piezoelectric actuator is proposed, simulated, and tested in this study, holding a potential application for magnetic confinement fusion. Four piezoelectric composite beams form a framed piezoelectric actuator. Two orthogonal vibration modes are excited and coupled in the framed piezoelectric actuator, producing a microscopic elliptical motion at its driving feet. Due to the friction, the framed piezoelectric actuator can move on a rail, thereby constructing the railed carrying system. Numerical simulation is carried out to confirm the operation principle and to conduct the dimensional optimization of the proposed framed piezoelectric actuator. A prototype of the proposed framed piezoelectric actuator with a weight of 83.8 g is manufactured, assembled, and tested, to verify the piezoelectric actuation concept. The optimal driving frequency of 20.75 kHz is obtained for the proposed actuator prototype, and at the excitation voltage of 400 V its maximum mean velocity of 384.9 mm/s is measured. Additionally, the maximum load weight to self-weight of the proposed actuator prototype reached up to 10.74 at the excitation voltage of 300 V. These experimental results validate the feasibility of the piezoelectric actuation concept on the railed carrying system.