<p>To enhance the load-carrying capability of the Macro–Micro Composite Actuator, we propose a Halbach-type structure and investigate its output thrust. We derive the thrust output characteristics of the actuator under the Halbach array using the Lorentz force method. By optimizing the height of the axial permanent magnets, the average output thrust of the actuator is intensified. A single-factor analysis was conducted to determine the topological structure parameters that affect thrust output. The PB test was utilized to identify the primary influencing factors, and the response surface method was employed to formulate a thrust output model for the actuator considering the interaction of these factors. Finally, a prototype of the actuator was constructed based on theory and simulation to optimize thrust output. The experimental results indicate that the thrust output characteristic curve of the macro-stage actuator with Halbach array is consistent with the theoretical simulation results. This improves the average output level, and the peak thrust is consistent with the optimization results. The maximum thrust can reach 187.3N, which improves the load-carrying capacity of the system.</p>