of post 174 as the motor 194 turns the drum 190 takes up or releases its associated cable 176 the pilot hole 196 is used to position and set a reference point for the cables the positioning of the moving platform 22 is controlled directly by the amount of cable released by the drum a computer controlled motor controller systems not shown such as computer 35 connected to controller 31 shown in fig1 is used to adjust the length of the active cables in mechanism 170 shown in fig1 the two parallel cables are similar to the parallelograms in the other embodiments and as long as their lengths remain the same the end effector 22 can only move parallel to the base however in this design we have considered two motors to be able to change both the orientation and location of the end effector through three actuators in mechanism 170 of fig1 the cables 176 from the side of post 174 having the two winches 188 side by side have the ability to constraint the orientation of the moving platform 22 if these cables are equal in length the cables 176 and the moving platform 22 forms a parallelogram for the same reasoning as the apparatus shown in fig1 thus the moving platform 22 will be parallel to the top plane 173 of the base plate 172 on the other hand if cables 176.