Drilling is traditionally performed by multi-motor systems manually. However, the complex intermediate transmission mechanisms in the traditional design have large size and relatively low robustness. In this paper, a splitstator 2-degree-of freedom (2DoF) machine is applied. By conducting linear, rotary, and helical motion by only one machine, it provides a more compact, more integrated, more reliable, and stronger-adaptability electrically drilling machine for submerged drilling systems. On account of the adoption of the split-stator structure, the electromagnetic design of such 2DoF machine is a significant challenge. In this paper, a design method for the 2DoF machine with special split structure is proposed based on the electric decoupled equivalent circuit (EDEC). Then a 1.5 kW 2DoF drilling machine is designed, and the electromagnetic performances are verified by the 3D finite element analysis (FEA). The results show the good characteristics and feasibility of applying the 2DoF machine in drilling systems.