For the transferring task, the belt actuation system is installed
in all the four pieces of the bedplates on the main bed. The
mechanism and the actuation of all the four belts are the same.
Hence, only the belt system on the bottom part is discussed in
the following. Fig. 9 shows the side viewof the bedplate. One set
of belt is installed surrounding the bedplate. Below the bedplate,
the structure is used to support the bedplate and connected to
other parts. The structure is hollow to let the belt pass through it.
For generating enough power to transfer heavy-weighted body,
each of the belts is driven by one ac servo motor independently.
The ac motor is further connected to the transmission axis by