Movement system configured for moving a payload

A movement system configured for moving a payload, the movement system comprising:

• a bridge crane configured for movement along an X axis;
• a trolley movably attached to the bridge crane and configured for movement along a Y axis, in perpendicular relationship to the X axis;
• a movement device depending from the trolley along a Z axis, wherein the movement device includes:
• a first four-bar mechanism and a second four-bar mechanism which is operatively connected to and is suspended from the first four-bar mechanism;
• wherein each of the first and second four-bar mechanisms has a pair of kinematic links and a pair of base links;
• wherein the pair of kinematic links extend in spaced and parallel relationship to one another;
• wherein the pair of base links extend in spaced and parallel relationship to one another and are pivotally and directly connected to ends of the pair of kinematic links to form a plurality of joints therebetween, wherein the plurality of joints includes only a first, second, third, and fourth joint therebetween;
• wherein the pair of kinematic links and the corresponding pair of base links form a parallelogram;
• wherein the first joint of the first four-bar mechanism and the third joint of the second four-bar mechanism each define a respective first axis;
• wherein the second joint of the first four-bar mechanism and the fourth joint of the second four-bar mechanism each define a respective second axis;
• wherein the third joint of the first four-bar mechanism and the first joint of the second four-bar mechanism each define a respective third axis;
• wherein the fourth joint of the first four-bar mechanism and the second joint of the second four-bar mechanism each define a respective fourth axis;
• wherein the first, second, third, and fourth axis of the first four-bar mechanism extend in parallel relationship to one another and the first, second, third, and fourth axes of the second four-bar mechanism extend in parallel relationship to one another;
• wherein the kinematic links are rotatable about the respective first, second, third, and fourth axis, while the kinematic links remain in spaced and parallel relationship to one another, such that the pair of kinematic links and the corresponding pair of base links continuously form the shape of a parallelogram;
• wherein each of the first, second, third, and fourth axes of the first four-bar mechanism is disposed in perpendicular relationship to each of the first, second, third, and fourth axes of the second four-bar mechanism;
• a sensor operatively attached to one of the joints of one of the first and second four-bar mechanisms;
• wherein the sensor is configured to measure an angle of rotation of the respective kinematic link about the respective axis.