Abstract: A thrust reverser may comprise translating sleeve panel. A first articulating slider and a second articulating slider may be located at a circumferential end of the translating sleeve panel. Each of the first articulating slider and the second articulating slider may include a slider bar and a slider ball. The slider ball may be attached to the translating sleeve panel and located in a spherical opening defined by the slider bar.

Abstract: A shift lock mechanism for a vehicle includes: a member to be locked that is provided to a selector lever for selecting a transmission gear of an automatic transmission, an engaging part provided to the member to be locked at a position corresponding to the transmission gear, a lock member facing the member to be locked and engageable with the engaging part, a slope part disposed at an end of the lock member, a driving device that drives the lock member to lock the selector lever or enable the selector lever to move, a buffer member that is provided to the driving device and compressed to urge the lock member toward the member to be locked which is retracted, and a control device that receives a depression signal from a brake pedal and a vehicle speed signal from a vehicle speed sensor and to control to drive the driving device.

Abstract: A reference imaging system including a planar reference piece. The reference imaging system further includes a three-axis gantry for positioning the planar reference piece at a plurality of points in a 3D coordinate system. Additionally, the reference imaging system includes a yaw actuator for adjusting the yaw angle of the object. Furthermore, the reference imaging system includes a pitch actuator for adjusting the pitch of the object. Moreover, the reference imaging system includes a computer processing unit for controlling the 3D position, pitch and yaw of the planar reference piece.

Abstract: A device for variably influencing the wavefront of a beam, said device comprising a reflecting or transmitting planar optical element (1) and an actuating and holding means (2) which is connected to the planar optical element (1) via at least three elastic retaining lugs (2.3) such that forces can be introduced into at least one of the retaining lugs (2.3) via at least one actuating element (2.4) arranged in the actuating and holding means (2), which forces are deflected in their direction of action by the bending of the retaining lugs (2.3) such that they cause forces on the peripheral surface (1.3) of the planar optical element (1) whose direction of action (RA) is parallel to the axis of symmetry (A) of the planar optical element (1), allowing the planar optical element (1) to be actively deformed.

Abstract: A furniture drive system includes a mechanical control unit having a pivotably mounted control arm for moving a movable furniture part, a spring device for applying force to the control arm, and a movably mounted control part having a transmission opening for transmitting a force from the spring device to the control arm. An electrical drive unit has an electric motor for moving the movable furniture part, and a driver to be driven by the electric motor for transmitting a torque of the electric motor to the mechanical control unit. The driver can be inserted into the transmission opening, and the electrical drive unit and the mechanical control unit are designed as separate assemblies and can be fastened to each other. A contact surface for the driver is arranged laterally adjacent to the transmission opening and the driver is preloaded toward the contact surface by a force store.

Abstract: Electric motors are disclosed. The motors are preferably for use in an automated vehicle, although any one or more of a variety of motor uses are suitable. The motors include lift, turntable, and locomotion motors.

Abstract: A head structure of a robot according to the invention includes a first motor and a second motor so supported side by side within a head of the robot that output shafts are positioned coaxially with each other; a left elastic frame that is so driven by the first motor and one end of which is so fitted as to be rotatable around the output shaft and the other end of which extending in a perpendicular direction from the output shaft is supported by a trunk of the robot; and a right elastic frame that is so driven by the second motor and one end of which is so fitted as to be rotatable around the output shaft and the other end of which extending side by side with the left elastic frame from the output shaft is supported by the trunk.

Abstract: A furniture member has a base frame including first and second frame members each having a first or second frame support tube. A mechanism includes a motor connected to the base frame and a torque tube connected to first and second support brackets and the motor. A stiffening tube assembly has first and second side stiffening tubes, the first frame support tube connected to the first side stiffening tube and the second frame support tube connected to the second side stiffening tube. Multiple rotation links include a first set connected to the first frame support tube and the first side stiffening tube, and a second set connected to the second frame support tube and the second side stiffening tube. The rotation links allow mechanism rotation to a forward lift position by motor operation displacing the torque tube and thereby forwardly rotating and lifting the side stiffening tubes.

Abstract: Electric motor furniture drive for adjusting parts of a piece of furniture relative to one another has a drive unit which has at least one electric motor and is in drive connection with at least one tensioning unit. Furniture drive has a base body which is preferably configured as a housing and is accommodated in or on the tensioning unit. At least two Bowden cables are operatively associated with each tensioning unit, traction cables of Bowden cables being in operative connection with associated tensioning unit. Traction cables are guided or guidable to tensioning unit(s) through at least one recess in the housing. The sheathings of the Bowden cables are fixed or fixable to the base body.

Abstract: A dual arm robot assembly has two arms each having a set of joint/link pairs that, in conjunction with an actuator assembly. Define at least three degrees of freedom to provide independent horizontal translation and rotation of a distalmost link. A vertical motion mechanism is also provided.

Abstract: A spindle head structure rotatable in A/B axes is provided, comprising: a spindle support, an intermediate support, a base support, an upper telescopic strut and a lower telescopic strut. The spindle support may be adapted to be fixed with a spindle. The intermediate support may be connected with the spindle support via two coaxial upper revolute pairs. The base support may be connected with the intermediate support via two coaxial lower revolute pairs. The upper telescopic strut may be connected between the spindle support and the intermediate support. And the lower telescopic strut may be connected between the intermediate support and the base support.

Abstract: A robot includes a base, a movable platform, a shaft rotatably connecting the movable platform and the base, three kinematic chains rotatably connecting the movable platform and the base, an end effector defining an air orifice, and a rotary member. The rotary member is rotatably connected to the movable platform, and two opposite ends of the rotary member are connected to the shaft and the end effector, respectively. The movable platform defines an air hole, and the rotary member defines an airflow passage communicating between the air hole and the air orifice.

Abstract: A substrate handling robot having a robot body and a robot arm with an end effector is configured to exhibit angular (?), radial (R) and Z motion. A pair of coaxial shafts link the robot arm to respective motors dedicated to angular (?) and radial (R) motions. The motors are stationarily mounted with respect to the robot body. The shafts are rotatably supported by a floating platform which is motivated in the Z direction by a third motor also stationarily mounted with respect to the robot body. The third motor is coupled to the platform by a Z motion linkage. The first and second motors are coupled to the coaxial shafts by angular and radial motion linkages each of which includes primary and secondary timing belts whose relative motions are synchronized with the Z motion linkage to achieve controllable independent angular (?), radial (R) and Z motions in a simple, light-weight package.

Abstract: A movable operation unit is movable on a two-dimensional operation surface of a main body. The two-dimensional operation surface is defined by an X-axis and a Y-axis perpendicular to each other. A Y-axis movable portion is rotatable around a rotation axis. The Y-axis movable portion is movable in the Y-axis direction when rotating around the rotation axis. The rotation axis extends in the X-axis direction relative to the main body. The Y-axis movable portion includes a sliding rail portion on which the movable operation unit is slidable in the X-axis direction. The movable operation unit is operable to slide in the X axial direction and move in the Y axial direction accompanied with rotation of the Y-axis movable portion around the rotation axis to performs a parallel shift in the two dimensional direction while regularly and constantly maintaining a posture of the movable operation unit.

Abstract: A module of a center link pivotably connected to two outer links has continuously rotatable faceplates rotatably disposed on the two outer links, thereby creating four degrees of freedom (4-DOF). Modules may be connected via faceplates to produce a “snake” assembly. A single module may move forward in a straight line through simultaneous rotation of the two faceplates. By reversing the rotation of the faceplates, the module may turn in its own length. By sequentially pivoting the outer links relative to the center link, an “inch worm” movement may be used to move the module. Interconnections of two or more modules increase the number of available degrees of freedom, and increase the flexibility of the resultant assembly. Apertures in the faceplates and the outer links allow for interconnection of modules and allow for electrical power and signal connections. A battery housed in the center link provides power for each module.

Abstract: A remote controlled actuator includes a spindle guide section (3) of an elongated configuration, a distal end member (2) fitted to a distal end of the spindle guide section (3) through a distal end member connecting unit (15) for alteration in attitude, a tool (1) rotatably provided to the distal end member (2), a tool rotating drive source (41) for rotating the tool, and an attitude altering drive source (42) for manipulating the attitude of the distal end member. The distal end member rotatably supports a spindle (13) then holding the tool (1). The spindle guide section (3) includes a rotary shaft (22) for transmitting rotation of the tool rotating drive source to the spindle and a guide hole (30a). A flexible attitude altering member (31) capable of altering the attitude of the distal end member is reciprocally movably inserted within the guide hole (30a).

Abstract: A robot arm for an industrial robot, including a first arm part and a second arm part, where the second arm part is rotatably journalled in the first arm part for rotation about a first axis of rotation, characterized in that the second arm part includes a tubular member, rotatably journalled in the first arm part, so that the tubular member is configured to support the robot arm.

Abstract: A positioning system for a spherical object which adjusts orientation thereof in azimuth and elevation comprising first and second drive rods threadably engaged with respective first and second brackets secured to the surfaces of opposing left and right hemispheres the object The first and second drive rods include a first coupling configured for imparting co-rotation to the drive rods and a second coupling configured for imparting counter-rotation to the drive rods, and a clutch for selecting operation of either coupling.

Abstract: A hexapod actuator device, notably used in flight simulators or driving simulators, includes six legs. A first end of each leg is notably mobilizable along a straight segment by virtue of a motorized carriage. The hexapod actuator comprises notably six segments of straight lines that may be coplanar or inclined with respect to the ground. A second end of each leg may be mounted free on a ball joint with three degrees of freedom in rotation. Each of the ball joints is secured to a mobile platform. The device lies in the field of systems allowing motion to be imparted to pilot cabins for example.

Abstract: A robot has a robot arm, a support structure, and a movable platform. The platform includes a cantilevered member coupled to a guide of the support structure such that motion of the platform is directed along a first direction. The robot further includes first and second timing belts having portions that extend along the first direction and that are disposed on opposite sides of the cantilevered member, and first and second shafts movable with the movable platform. The shafts are coupled to the respective timing belts, to the robot arm such that rotation of the first shaft imparts angular motion to the robot arm and rotation of the second shaft imparts radial motion. The robot also includes a third timing belt to which the platform is coupled and by which it is moved. Motors are provided that impart movement to the timing belts.

Abstract: A method and system for a shaft coupling assembly is provided. The assembly includes a first coupling half coupled to a distal end of a first shaft wherein the first coupling half includes one or more projections extending away from the first coupling half. The shaft coupling assembly also includes a second coupling half coupled to a distal end of a second shaft wherein the second coupling half includes a media configured to matingly engage the one or more projections in an axial direction, the projections include a relatively large length to width ratio, the media displaces orthogonally to the insertion direction an amount sufficient to facilitate the insertion for each individual projection while substantially preventing gross movement of all of the projections in total such that a linear force or torque applied to one coupling half is transmitted through the mated projections and media.

Abstract: A mechanical device for maintaining parallelism includes first, second, third and fourth bars. The first side surface of the first bar and the first side surface of the second bar are bridged by a first flexure, leaving a gap between the bottom surface of the first bar and the upper surface of the second bar; the second side surface of the second bar and the second side surface of the third bar are bridged by a second flexure, leaving a gap between the bottom surface of the second bar and the upper surface of the third bar; and the first side surface of the third bar and the first side surface of the fourth bar are bridged by a third flexure, leaving a gap between the bottom surface of the third bar and the upper surface of the fourth bar.

Abstract: Both shifting rate and positioning precision of a three-link toggle type positioning platform can be increased by using mechanism of three-link concept in this invention.

Abstract: A special path generating device includes a base, a first axis slide assembly, a second axis slide assembly, a working portion, a driving portion, a first cam and a second cam. This first axis slide assembly includes a first bar and a first slide. The second axis slide assembly includes a second bar and a second slide. This working portion is mounted on the second slide that has two contacting portions. The driving portion is mounted on the base. When the driving portion drives the driving shaft rotating, the first cam and the second cam rotate accordingly and makes the working portion generating a special path. It can generate a constant-speed circular movement. It is easy to control. In addition, its volume is small.

Abstract: A hollow actuator includes a motor section, a reduction gear section, a brake section, a rotation position detecting section, and a shaft having a hollow shape and transmitting rotation, wherein the motor section and the brake section are disposed in a same chamber.

Abstract: A first link member 4 is swingably connected to the base member 2 on a forward side, and a second link member 5 is swingably connected to the base member 2 on a backward side. A third link member 6 is swingably connected to the output member 3 on the forward side, and a fourth link member 7 is swingably connected to the output member 3 on the backward side. A swinging end of the third link member 6 is swingably connected to the first link member 4 on a first connecting axis J5, and a swinging end of the fourth link member 7 on the backward side is swingably connected to the first link member 4 on a second connecting axis J6. A swinging end of the second link member 5 is swingably connected to the fourth link member 7 on a third connecting axis J7.

Abstract: A manipulator arm mechanism includes a pivot shaft, a first arm, a second arm, and an actuator. The first arm includes a first end and a second end opposite to the first end. The second arm also includes a first end and a second end opposite to the first end. The pivot shaft is connected to the first end of the first arm, and the pivot shaft has a first axis. The first end of the second arm is rotatably connected to the second end of the first arm and rotates around a second axis, and an angle between the first axis and the second axis is between 0° to 180°. The actuator is connected to the second end of the second arm.

Abstract: Drive device for a flap of a piece of furniture, having at least one actuating arm which is, or can be, activated by a spring device and is intended for moving the flap, and having a pushing-out device, via which the flap can be moved from the closed position, in the direction of the open position, over a first opening-angle range (M1), wherein the spring device exerts substantially no force on the flap in the first opening-angle range (M1), and the spring device moves the flap in the opening direction only in a second opening-angle range (M2), wherein the second opening-angle range (M2) adjoins the first opening-angle range (M1) or, at most, slightly overlaps the same.

Abstract: An actuator according to example embodiments may be relatively compact and may be driven with 2 degrees of freedom with less spatial constraints. The actuator may include a base member, a ball screw member including a ball screw coupled to the base member and a ball nut screwed onto the ball screw, a driving member coupled to the ball nut so as to move in conjunction with the ball nut, a first directional displacement member configured to move in a first direction in response to a first movement of the driving member, a wedge member coupled to the driving member so as to be moved in a second direction in response to a second movement of the driving member, a second directional displacement member configured to move in a second direction in conjunction with the wedge member, and a binding member configured to bind the first directional displacement member to at least one of the driving member, the wedge member, and the base member.

Abstract: In a three degrees of freedom parallel mechanism, a spindle head is carried by first and second movable support members to be movable along a Z-axis and to be pivotable along each of A and B-axes. The spindle head is jointed through three rods to drive sliders which are movable along three parallel linear guides secured stationarily. For jointing, there are employed spherical joints and universal joints. Kinematic parameters used in converting each command position of the movable body to target operational positions for three actuators of the Z, A and B-axes are compensated based on inversely converted command positions and inversely converted actually measured positions which have been gathered with the spindle head being located at positions of a suitable number, so that the kinematic parameters can be updated to those newest.

Abstract: A toggle-type positioning platform including a first platform, a motor, a screw rod, a second platform and a linkage is provided. The motor and the screw rod are disposed on the first platform; the motor is coupled to the screw rod and suitable for driving the screw rod to rotate. The second platform is above the first platform and is suitable for moving back and forth alternately along a predetermined path, wherein an included angle exists between an extended direction of the predetermined path and the screw rod. The linkage is disposed between the first platform and the second platform, and is connected between the second platform and the screw rod. The linkage is driven by the rotation of the screw rod, to drive the second platform to move along he predetermined path. Accordingly, the positioning precision of the toggle-type positioning platform is enhanced.

Abstract: The present invention relates to a device for generating stiffness and a method for controlling stiffness, which can generate stiffness by using elastic members and can control the stiffness, and a joint of a robot manipulator to which the device and method can be applied. The device for generating stiffness includes a rotating shaft; a plurality of elastic members fixed to the rotating shaft; upper and lower circular plates that are disposed so as to be spaced from each other with the elastic members interposed therebetween, are independently driven with respect to the rotating shaft by power generating units thereof, respectively, and respectively have slits of which the number is equal to the number of the elastic members; and a plurality of moving members that are inserted into the slits formed in the upper and lower circular plates, respectively, and are connected to the elastic members so as to move.

Abstract: A hollow actuator with a built-in reduction gear includes a motor having an output shaft, and a reduction gear having an input shaft, the output shaft and the input shaft being provided separately from one another. The actuator also includes a motor section and a brake section disposed on a non-load side of the motor section. A bearing is attached to an inner periphery of the brake section. Another bearing that is different from the bearing provided on the inner periphery of the brake section rotatably supports the output shaft of the motor section.

Abstract: The present invention relates to a method and a device for the machining of an object using a tool, in which the tool (2) or the object (18) is guided using a handling apparatus, which has multiple movement axes for the coarse positioning of the tool (2) or object (18), which form a kinematic chain. In the method, an additional actuator (3), which has a higher positioning precision in at least one dimension or axis than the other movement axes, is inserted between a terminal link (1) of the kinematic chain and the tool (2) or object (18). A relative movement of the tool (2) or terminal link (1) of the kinematic chain to the object (18) is detected using at least one sensor (5) and a deviation from a target movement path is compensated for using the additional actuator (3). The method and the associated device allow the use of robots or other handling apparatuses having lower path precision for applications which require a high precision during the guiding of the tool.

Abstract: A haptic device for telerobotic surgery, including a base; a linkage system having first and second linkage members coupled to the base; a motor that provides a motor force; a transmission including first and second driving pulleys arranged such that their faces form an angle and their axes form a plane, first and second idler pulleys offset from the plane and arranged between the first and second driving pulleys such that their axes divide the angle between the first and second driving pulleys, and a cable that traverses the first and second driving pulleys and the set of idler pulleys and transfers the motor force to the linkage system; an end effector coupled to distal ends of the first and second linkage members and maneuverable relative to the base; and a controller that modulates the motor force to simulate a body part at a point portion of the end effector.

Abstract: An actuating mechanism for moving a highly movable flap of a piece of furniture includes a main body intended for attachment to a furniture body. An actuating arm for moving the flap is mounted at one end on a bearing axis of the main body and at the other end on a bearing axis of a fitting part intended for attachment to the flap. An additional control arm for moving the flap is provided, wherein during the movement of the control arm the effective lever arm length of the control arm can be varied, and the effective lever arm length of the control arm is shortened when opening the actuating arm.

Abstract: A parallel mechanism which has a holding bracket; a movable platform; and three branch joint assemblies of the same structure that are spatially arranged symmetrically about an axis disposed between the holding bracket and the movable platform. Each branch joint assembly has a connecting rod, a linear guide, a driving device and a carriage. The linear guide and the driving device both are secured on the connecting rod. One end of the connecting rod is connected with the movable platform through a hinge having three rotational degrees of freedom. The carriage and the linear guide are connected with each other by a sliding joint, and the carriage is connected with the holding bracket by a hinge having one rotational degree of freedom.

Abstract: A device is provided for electrically adjusting a vehicle seat (1). The device has left and right articulated constructions (6, 6) arranged respectively on left and right sides (3, 4) of the vehicle seat (1). The device also has at least one electric motor (13) coupled to left and right gear mechanisms (10) for moving the respective left and right articulated constructions (6, 6) and left and right locking mechanisms (11) for locking the respective left and right articulated constructions (6, 6). The design permits a precise adjustment of the vehicle seat and secure locking of the vehicle seat in the event of a crash.

Abstract: A parallel link mechanism arranged between a fixed base and a movable base includes a harmonic drive gear reducer, a first arm, a second arm, a connection base, a first auxiliary link, and a second auxiliary link. The harmonic drive gear reducer has a body, an input shaft, a first output shaft, and a second output shaft. The first arm has a proximal end pivotally connected to the fixed base and a distal end connected to the body of the reducer. The second arm has a proximal end connected to the second output shaft and a distal end pivotally connected to the movable base. The connection base is arranged outside the second arm with respect to the reducer and connected to the first output shaft. The first auxiliary link is arranged parallel with the first arm and has an end pivotally connected to the fixed base and an end pivotally connected to the connection base.

Abstract: A tilt table for use with a milling machine. The tilt table includes at least one pivot support attachable to the milling machine. The tilt table includes a table top pivotally attached to the at least one pivot support. The table top has two ends. The tilt table includes at least one movement assembly attached to at least one end of the table top to move the table top about the at least one pivot support.

Abstract: An actuating mechanism for a pivotably mounted actuating arm, in particular for driving a flap of an item of furniture, wherein the actuating arm is acted upon by a spring device, and wherein an electric drive acts on the actuating arm via a transmission mechanism, and wherein the transmission ratio of angle of rotation (?) of the motor to angle of rotation of the actuating arm is varied over the angle of rotation range of the actuating arm by the transmission mechanism.

Abstract: A fail-safe electromagnetic linkage has a support device for a valve head, and an actuator component actuable by an actuator. The support device is coupled to the actuator component whilst power is supplied to the electromagnet and decoupled from the actuator component whilst power is not supplied to the electromagnet. The assembly further comprises a return mechanism configured to drive the support device relative to the actuator component if power is not supplied to the electromagnet.

Abstract: A micromechanical element includes a movable functional element, a first retaining element, a second retaining element, a third retaining element, and a fourth retaining element. The first retaining element and the functional element are connected at a first junction, the second retaining element and the functional element are connected at a second junction, the third retaining element and the functional element are connected at a third junction, and the fourth retaining element and the functional element are connected at a fourth junction. In addition, the first retaining element and the second retaining element each include a piezoelectric driving element, the driving element of the first retaining element and the driving element of the second retaining element being configured to move the functional element in accordance with electric excitation.

Abstract: The robot comprises: —a controller (C), including power modules (22) for supplying the motors (10) of the arm (A) of the robot (R), a CPU unit (26), for calculation and processing and connection means (52, B), between the arm (A), the power modules (22) and the CPU unit (26). The connection means (52, B) comprise a single functional bus (B) which connects a control unit (30), associated with the CPU unit (26), firstly to the power modules (22) and, also, to the digital interfaces (14) with the sensors (12) of the arms (A). Said interfaces (14) are either integrated with the arm (A) or located in the immediate vicinity thereof.

Abstract: A servo drive system of a press machine includes a ram, an operation shaft which vertically moves the ram, and a servo motor which operates as a power source of the ram and which generates ram pressure using a torque based on at least one speed-torque characteristic of the servo motor. The operation shaft is directly driven using the servo motor. The at least one speed-torque characteristic of the servo motor is set in a manner such that a motor torque of the servo motor at which a capacity of electric energy supplied by a servo amplifier is determined becomes the motor torque at which an optimal punching pattern of the ram is generated from a light load to a heavy load according to a type of workpiece to be worked by the press machine.

Abstract: Novel applications of electroactive polymer materials, particularly of ionic polymer metal composite (IPMC). Such applications include manipulators with combined electromechanical and electroactive actuators. Applications are particularly suitable in low gravity environment.

Abstract: A folding loft stair assembly (1) has an outer mounting frame (2) for mounting in a ceiling ope giving access to an attic space in a building. An inner stairway support frame (3) is pivotally mounted on the outer frame (2) for movement between a nested position within the outer frame (2) and a downwardly extending In-use position, A two-art collapsible stairway (4) is movable on the inner frame (3) by a remotely controlled actuator (5) between a raised collapsed stored position and lowered in-use position. The stairway (4) Includes an upper part (30) and a lower part (31 ) hingedly connected (38) to the upper part (30). An upper end of the upper part (30) Is hingedly mounted on the inner frame (3). The lower part (31) is slidably connected to the inner frame (3) by a pair of slide arms (40).

Abstract: A parallel mechanism has a plurality of arms. Each of the arms has a ball joint. The ball joint includes a ball stud with a shaft portion and ball-shaped head, and a socket swingably and pivotally movably holding the ball-shaped head of the ball stud. The socket includes a semispherical recess portion holding the ball-shaped head from a top portion to an equator thereof, and an extending portion which is smoothly continuous with the semispherical recess portion and which extends from the equator of the ball-shaped head to the shaft portion side. The inner diameter of an opening in the extending portion is equal to or larger than the diameter of the ball-shaped head.

Abstract: A parallel mechanism includes a base, actuators attached to the base, a plurality of arms coupled together in parallel, and a sensing device. Each of the arms has a first link, one end of which is coupled to the actuator, a second link through which the other end of the first link and a bracket are coupled together, a ball joint through which one end of the second link and the other end of the first link are swingably coupled together, and a ball joint through which the other end of the second link and the bracket are swingably coupled together. Each of the ball joints includes a ball stud including a ball-shaped head, a socket swingably holding the ball-shaped head of the ball stud, and a conductive member interposed between the ball-shaped head and the socket. The sensing device senses when at least one of the plurality of ball joints is loose, based on whether or not the ball stud and the socket are electrically continuous with one another.

Abstract: A two-dimension linear platform comprises a first displacement module and a second displacement module. The first displacement module includes a carrying member, at least one active linear module and at least one passive linear module. The active linear module and the passive linear module of the first displacement are parallel and opposite each other and are both disposed on the carrying member of the first displacement module. The second displacement module includes a carrying member, at least one active linear module and at least one passive linear module. The carrying member of the second displacement module is disposed on the active linear module and the passive linear module of the first displacement module. The active linear module and the passive linear module of the second displacement module are parallel and opposite each other and are disposed on the carrying member of the second displacement module.