Apparatus for moving a tool

摘要

An apparatus for moving a gripping tool in three mutually perpendicular directions includes a base platform, a first platform, and a second platform which are respectively located in mutually parallel planes. The first platform is slidingly mounted on the base and the second platform is slidingly mounted on the first platform, for linear reciprocal movement in a direction perpendicular to the movement of the first platform. A gripping tool is slidingly mounted on the second platform, for linear reciprocal movement perpendicular to both the movement of the first platform and the second platform. Electric voice coil actuators which include a magnet for establishing a magnetic field, and an electrical coil located in the magnetic field are employed to provide motive force for moving the first platform, the second platform, and the tool. To do this, the respective magnet and coil of each actuator are mounted on different platform levels and electric current is passed through the coil to create a magnetic field which interacts with the magnetic field produced by its cooperating magnet to move the platforms and the tool.