Actuation system configured for moving a payload

An actuation system configured for moving a payload, the actuation system comprising:

• a bridge crane;
• a first actuator operatively connected to the bridge crane, the first actuator disposed in spaced relationship to the bridge crane and configured for being actuated;
• a first belt operatively connecting the bridge crane and the first actuator such that the first belt moves the bridge crane along an X axis in response to actuation of the first actuator;
• a first plurality of pulleys configured to rotate and move the first belt such that the bridge crane moves along the X axis;
• a trolley extending from the bridge crane;
• a second actuator operatively connected to the trolley, the second actuator disposed in spaced relationship to the trolley and configured for being actuated;
• a second belt operatively connecting the trolley and the second actuator such that the second belt moves the trolley along a Y axis in response to actuation of the second actuator;
• a second plurality of pulleys configured to rotate and move the second belt such that the trolley moves along the Y axis;
• an end effector extending from the trolley and configured for supporting a payload;
• a third actuator operatively connected to the end effector, the third actuator disposed in spaced relationship to the end effector and configured for being actuated;
• a third belt operatively connecting the end effector and the third actuator;
• a third plurality of pulleys configured to rotate and move the third belt;
• wherein a pair of the third pulleys are operatively disposed on the trolley;
• and
• a transmission operatively disposed on the trolley between a Z axis of the end effector and the pair of the third plurality of pulleys such that movement of the third belt transmits motion from the pair of the third plurality of pulleys to the transmission to cause the end effector to rotate about the Z axis.