Motion control structure and actuator

A motion control structure, including:

• a motion platform, used for connecting with a driven object;
• a first actuator, used for driving the motion platform to translate along an X-axis or a Y-axis or rotate around a Z-axis, wherein the first actuator surrounds an outer periphery of the motion platform, and the first actuator includes a first execution unit arranged on opposite sides of the motion platform along the X-axis direction and a second execution unit arranged on opposite sides of the motion platform along the Y-axis direction;
• the first execution unit includes a first actuating element connected to the motion platform, and the first actuating element can be displaced along the X-axis direction;
• the second execution unit includes a second actuating element connected to the motion platform, and the second actuating element can be displaced along the Y-axis direction;
• and
• a second actuator, used for driving the motion platform to translate along the Z-axis or rotate around the X-axis or the Y-axis, wherein the second actuator surrounds an inner periphery of the motion platform, and the second actuator includes a third execution unit arranged corresponding to an inner edge of the motion platform;
• the third execution unit includes an assembly portion connected to the motion platform, and the assembly portion can be displaced along the Z-axis direction;
• wherein each of the third execution units further includes a fifth serpentine beam connecting the assembly portion and the motion platform, the fifth serpentine beam transmits the motion of the assembly portion to the motion platform for driving the motion platform to displacing along the Z-axis;
• each of the third execution units further includes a serpentine beam assembly and third anchoring portions arranged on both sides of the assembly portion, both sides of the assembly portion is connected with the third anchoring portions through the serpentine beam assemblies;
• the assembly portion includes a first single body, a second single body, and sixth serpentine beams;
• the first single body is provided with a cavity, and the second single body is arranged in the cavity;
• both sides of the second single body are connected to the inner side wall of the cavity through the sixth serpentine beams, the first single body is connected with the third anchoring portion through the serpentine beam assemblies, and the second single body is connected with the motion platform through the fifth serpentine beam.