With the advancement of two-degree-of-freedom machines, the ability to generate motion in two different directions has been made possible. They provide advantages in numerous applications, including submarine transport systems. Controlling these machines requires position detection in both directions. Therefore, it is necessary to use two separate sensors for position detection. The use of a two-degree-of-freedom sensor not only enables position detection in both directions but, compared to using two separate sensors, reduces the size and weight of the sensor and also improves its reliability. This paper introduces a two-degree-of-freedom wound-rotor resolver capable of detecting positions in both rotational and linear motion. The proposed structure includes horizontal and vertical excitation and signal windings, which present challenges in the manufacturing process. To optimize the proposed structure and simplify the manufacturing process, a new resolver is introduced with helical excitation and signal windings. The optimized resolver, compared to the initial two-degree-of-freedom resolver, uses only one set of excitation windings and one set of signal windings, resulting in a simpler manufacturing process.