Abstract:
A modular approach to the design of motion modules, e.g., positioning elements, is provided. Thus, a single positioning element can be integrated into a number of multi-axis configurations through combination with other basic positioning elements all of which share a modular interlocking feature. 
     In an embodiment of the invention a motion module is disclosed which includes a base and a mobile stage. The base includes an exterior surface and a first interconnector located on the exterior surface. The mobile stage includes an exterior surface and a second interconnector. The mobile stage is positionable with respect to the base. The second interconnector is located on the exterior surface of the mobile stage. The first and the second interconnector are mutually engagable in releasable frictional engagement with second and first interconnectors of other motion modules for stackable interconnection therebetween.

Description:
BACKGROUND OF THE INVENTION 
     1. Field of the Invention 
     This invention relates generally to positioning instruments, and particularly to a motion module with interlocking elements to allow stacking with other motion modules, to produce multi-axis positioning instruments. 
     2. Description of Related Art 
     The use of adjustable mounting or clamping devices is a common technique for experimental optics, telecommunications, semiconductor inspection and manufacturing, biological probing and sampling, electronic probing and sampling, magnetic probing and sampling and machining. Such mounts are used to position objects, e.g., optical elements, such as light sources and other optical devices. These devices have varying sizes and shapes, and are frequently positioned in close proximity to each other. Separate modules are used to perform different positioning functions. For example, linear translation stages allow axial movement of an element, rotary translation stages provide for rotation of an element, planarization stages provide tip-tilt for leveling of an element, and goniometers provide for angulation of an object. The modules are expensive due to the high degree of precision with which they are manufactured. 
     Typically, a customer&#39;s needs will vary from experiment to experiment. For example, in one experiment X-axis positioning of an object may be required. In another experiment combined X-Y axis positioning may be required, in another experiment X-Y-Z axis positioning may be called for. In still another experiment a combination of X-Z positioning and rotation may be called for. To achieve each of these positioning objectives the X, X-Y, X-Y-Z, and X-Y-Z+ rotation combinations must be purchased as fully assembled integral modules. This of course results in considerable expense and duplicity of investment. A customer may for example own four X-axis positioning elements, one as a stand-alone and the others as integral portions of various multi-axis positioners. 
     What is needed is a way to reduce the expense and duplication associated with existing multi-axis positioning modules. 
     SUMMARY OF THE INVENTION 
     A modular approach to the design of positioning elements is provided. Thus a single positioning element can be integrated into a number of multi-axis configurations through combination with other basic positioning elements all of which share a modular interlocking feature. 
     In an embodiment of the invention a motion module is disclosed which includes a base and a mobile stage. The base includes an exterior surface and a first interconnector located on the exterior surface. The mobile stage includes an exterior surface and a second interconnector. The mobile stage is positionable with respect to the base. The second interconnector is located on the exterior surface of the mobile stage. The first and the second interconnector are mutually engagable in releasable frictional engagement with second and first interconnectors of other motion modules for stackable interconnection therebetween. 
     In another embodiment of the invention a system of motion modules for the positioning of objects is disclosed. Each of the motion modules comprises a base, a mobile stage and a positioner. The base includes an exterior surface and a first interconnector. The first interconnector is located on the exterior surface. The mobile stage includes an exterior surface and a second interconnector. The mobile stage is positionable with respect to the base. The second interconnector is located on the exterior surface of the mobile stage. The first and the second interconnector are mutually engagable in releasable frictional engagement with complementary interconnectors of other motion modules for stackable interconnection therebetween. The positioner positions the mobile stage with respect to the base. 
     In further embodiment of the invention a motion module for the positioning objects is disclosed. The motion module includes a base, a mobile stage, a linear bearing, a bias member, and an adjustable member. The base includes an exterior surface and a first interconnector. The first interconnector is located on the exterior surface of the base. The mobile stage includes an exterior surface and a second interconnector. The mobile stage is positionable with respect to said base. The second interconnector is located on the exterior surface of the mobile stage. The first and the second interconnector are mutually engagable in releasable frictional engagement with complementary interconnectors of other motion modules for stackable interconnection therebetween. The linear bearing slidably affixes the mobile stage to the base to allow linear positioning of the mobile stage with respect to the base. The bias member biases the mobile stage linearly in a preferred direction with respect to the base. The adjustable member includes a handle and a tip. A rotation of the handle produces an extension of the tip. A counter-rotation of the handle produces a retraction of the tip. The adjustable member is affixed to the base with the tip in contact with an end of the mobile stage to counteract the operation of the bias member. 
    
    
     BRIEF DESCRIPTION OF THE FIGURES 
     FIGS.  1 A-B are isometric views of a modular stage unit mounted to a breadboard and movable along the Y-axis. 
     FIGS.  1 C-D is an exploded isometric view of the modular stage unit shown in FIGS.  1 A-B. 
     FIGS.  2 A-C are cross-section elevational views of three alternate embodiments of the dovetail mounts for the modular stage units shown in FIGS.  1 A-B. 
     FIG. 3 is an isometric view of two modular stage units movable along the X-Y axis and mounted to a breadboard. 
     FIG. 4A is an isometric view of three modular stage units mounted to a breadboard and positionable along the X-Y-Z axes. 
     FIG. 4B is an exploded isometric view of the three modular stage units shown in FIG.  4 A. 
     FIG. 5 is an isometric view of a single stage unit positionable along the Z-axis and mounted to a breadboard. 
     FIG. 6 is an isometric view of two modular stage units positionable along the Y-Z axis and mounted to a breadboard. 
     FIG. 7 is an isometric view of two modular stage units positionable along the X-Z axis and mounted to a breadboard. 
     FIG. 8 is an isometric view of a single stage unit showing the appropriate mounting position for an X-Y axis and a Z-axis positioner. 
     FIGS.  9 A-B are isometric views of alternate embodiments of the combination of a rotary and linear modular translation stages according to the current invention. 
     FIGS.  10 A-B are isometric views of alternate embodiments including a mounting plate attached to a modular translation stage unit. 
     FIG. 11 is an isometric view of a modular planarizing stage which provides rotation and translation. 
     FIG. 12 is an isometric view of a modular translation stage and optic fixture. 
     FIG. 13 is an isometric view of a multi-axis linear-rotational motion module affixed to a single-axis linear motion module. 
    
    
     DETAILED DESCRIPTION 
     The current invention provides method and apparatus for combining motion modules so as to allow any combination of translation, rotation, angulation or planarization for objects including optic elements. A motion module includes a base element and a mobile stage. The mobile stage as discussed above, can translate, rotate, angulate, and/or planarize in any combination with respect to the base unit. Both the base and mobile stage have defined thereon interconnect features. In an embodiment of the invention, the interconnect feature resembles in cross section, a dovetail. The interconnect feature allows motion modules to be rigidly affixed to one another in any order or combination by means of the interlocking of complementary shapes, e.g., a male dovetail within a female dovetail cavity. The modularization of motion modules in this manner allows a customer with a limited inventory of modules to create a diverse set of multi-axis positionable motion modules. A single motion module may exhibit single or multi-axis rotational and/or translational movement. Motion modules may be combined in multi-axis arrangements to produce multi-axis linear movement in any combination of axis. Motion modules may also be combined in multi-axis arrangements to produce various combinations of arcuate, rotary, planar, and linear motion. 
     FIG. 1A shows an isometric view of a single stage motion module  100 A mounted by means of a dovetail  102  to a breadboard  98 . The breadboard  98  includes a plurality of mounting holes, of which hole  114  is referenced. The dovetail  102  includes oval counterbores  116 A-B and mounting bolts  118 A-B. The motion module has a base  104  and a mobile translation stage  110 . The base includes a female dovetail cavity  120 , a dovetail set screw  122 , a clamp  106 , a positioner with a handle  108  and a positioner tip  128 . The positioner handle includes a rotary portion  108 A and a stationary portion  108 B. The mobile translation stage  110  includes bias spring bores  130  and dovetail  132 . Dovetail  132  includes counterbores  134 , fastening bolts  136  and alignment pins  138 . 
     The male dovetail  102  is fastened to the breadboard by means of mounting bolts  118 A-B positioned within oval counterbores respectively,  116 A-B within the male dovetail. The female dovetail  120  defined within the base  104  of the motion module  100 A is positioned astride the male dovetail  102  and rigidly affixed thereto by the clamping action of set screw  122 . The mobile translation stage  110  is slidably affixed to the base  104  by means of linear bearings which will be described and discussed in greater detail in FIG.  1 C. Springs positioned within spring bores  130  bias the mobile translation stage in a direction along the negative Y-axis with respect to the base  104 . The bias action of the springs causes the mobile translation stage to move along the negative Y-axis with respect to the base  104 . The movement of the translation stage is limited by contact with the tip  128  of the micrometer positioner. The micrometer positioner is fixed at its stationary handle portion  108 B to the base  104  by clamp  106 . The male dovetail  132  is fastened to the upper surface  112  of the mobile translation stage  110  by means of fastening bolts  136  positioned within counterbores  134 . Precise alignment of the male dovetail  132  along the Y-axis of translation of the mobile stage is facilitated by alignment pins  138 . 
     In operation the motion module  100 A is rigidly affixed to the breadboard by means of the female dovetail  120  and set screw  122  which cooperatively clamp the male dovetail  102  which is in turn fastened to the breadboard. The set screw is tightened by means of the allen head tool  140 . Once clamped to the breadboard, the mobile translation stage  110  can be moved in a precise fashion along the Y-axis by means of the clockwise and/or counterclockwise rotation of the rotary portion  108 A of micrometer handle  108 , which causes the tip of that instrument to extend and retract with respect to the clamp  106 , thereby producing a Y-axis movement of the mobile translation stage  110  with respect to the base  104 . 
     FIG. 1B shows an alternate embodiment of the motion module  100 B shown in FIG.  1 A. In the embodiment shown in FIG. 1B, the upper surface  144  of the mobile translation stage defines integral therewith a male dovetail  142  which protrudes from the upper surface  144  of the mobile translation stage. In all other respects the motion module  100 B shown in FIG. 1B is identical to the motion module  100 A described and discussed above in greater detail in connection with FIG.  1 A. 
     FIGS.  1 C-D is an exploded isometric view of the motion module  100 A discussed above in FIG.  1 A. The motion module includes a clamp  106 , a base  104 , linear bearing raceways  150 , bias springs  160  and a mobile translation stage  110 . The clamp includes fastening screws  172  and clamp screw  174 . The base includes bearing slots  148 A-B, female dovetail  120 , pre-load set screws  158 , dovetail set screw  122  and bearing retention pins  170 . The linear bearing raceways  150  include a set of four linear bearing raceways  150 A, a set of four linear bearing raceways  150 B, ball bearing sets  154 A-B, bearing cages  152 A-B and pre-load plate  156 . The springs  160  include a left spring  160 A and a right spring  160 B, sponge dampers  162 A-B and screws  164 - 166 . The mobile translation stage  110  includes spring bores  130 , bearing slots  146 A-B, upper mounting surface  112  and bearing retention pins  168 . The clamp  106  is held to the base of the motion module by fastener screws  172 . The micrometer positioner and specifically a stationary portion  108 B [see FIG.  1 A.] of the handle is frictionally affixed in clamp  106  by means of clamp screw  174 . 
     The slidable relationship between the mobile translation stage  110  and the base  104  is brought about by the two sets of four linear bearing raceways  150 A-B which are contained within respectively, slots  146 A- 148 A and slots  146 B- 148 B within the base and mobile translation stages. The four linear bearing raceways associated with the base are held in the base raceway slots  148 A-B by bearing retention pins  170 . Similarly, the four of the eight linear bearing raceways  150 A-B associated with the mobile translation stage  110  are affixed thereto by bearing retention pins  168  within bearing slots  146 A-B. On the left side of base  104 , two of the four linear bearing raceways  150 A reside within slot  146 A while the remaining two linear bearing raceways  150 A are positioned within the left-most slot  146 A of the mobile translation stage  110 . The opposing pairs of linear bearing raceways slidably engage ball bearing set  154 A which is rotatably contained within bearing cage  152 A. Similarly, on the right-hand side of the base  104  two of the four linear bearing raceways  150 B are affixed within slot  148 B while the remaining two linear bearing raceways  150 B are affixed within the right-most slot  146 B of the mobile translation stage  110  by the corresponding ones among retention pins  168 - 170 . Two of the group of four linear bearing raceways  150 B that are contained within slot  146 B of the mobile translation stage are slideably positioned with respect to the remaining two linear bearing raceways contained within slot  148 A of the base  104 . The rotational action of ball bearing sets  154 B rotatably contained within bearing cage  152 B allows for this slideable positioning. 
     The whole bearing assembly is pre-loaded by set screws  158  which engage pre-load plate  156  within slot  148 B and cause that pre-load plate to press against two of the four linear bearing raceways  150 B. In response, ball bearing set  154 B exerts pressure on the remaining two linear bearing raceways in slot  146 B in the mobile translation stage  110 . This in turn causes the whole mobile translation stage to move axially across base  104 , thereby encouraging slot  146 A of the mobile translation stage into closer proximity to slot  148 A of the base. Thus, the action of the pre-load plate causes all of the linear bearing raceways  150 A-B to achieve more intimate contact with the corresponding balls of ball bearing sets  154 A-B. 
     The bias of mobile translation stage  110  with respect to base  104  is brought about by the action of springs  160 A-B. One end of springs  160  distal with respect to clamp  106  is fastened by means of screws  164  to the mobile translation stage  110 . The opposing proximal end of springs  160  is attached by means of screws  166  to the base  104 . Any action on the part of micrometer positioner tip  128  [see FIG.  1 A.] tending to move translation stage  110  in a direction away from clamp  106  is met by a countervailing spring tension which tends to bias the mobile stage in an opposing direction. Because springs  160  are heat treated, they tend to oscillate during translation. This can cause unacceptable noise resulting from contact between the spring and the spring bores  130 . To reduce this noise, each spring  160 A-B has placed within it a sponge damper, respectively  162 A-B to cut down on unwanted vibration. 
     To assemble the motion module, the sponge dampers  162 A-B are placed within corresponding springs  160 A-B. An end of both the springs, e.g., the end proximal to the clamp  106  is then fastened by means of screws  166  to the base  104 . The mobile translation stage  110  is then placed within the u-shaped cavity defined between bearing slots  148 A-B within the base  104 . The two bearing assemblies comprising linear bearing raceways  150 A-B, ball bearing sets  154 A-B, cages  152 A-B and pre-load plate  156  are then inserted longitudinally into the corresponding opposing slots  146 A- 148 A and  146 B- 148 B. Next the pre-load set screws  158  are threadably inserted into corresponding holes within slot  148 B. These are tensioned against the pre-load plate until all “slop” is removed from the linear bearings. Next the mobile translation stage  110  is slid in a direction away from the clamp  106  a sufficient amount to expose the mounting holes for the distal end screws  164 . A tool with a hooked end is inserted into spring bores  130  and used to extract the distal end of springs  160 A-B. In the extended position, screws  164  are placed through hooks in the distal end of springs  160 A-B. The screws  164  are used to affix these distal ends to the mobile translation stage  110 . Subsequently, pressure on the mobile translation stage is released and the tension on springs  160 A-B returns the mobile translation stage to a central position with respect to base  104 . Next, the micrometer is inserted within clamp  106  such that the tip of the micrometer engages the mobile translation stage. At that position clamp screw  174  causes clamp  106  to affix a stationary portion  108 B of micrometer handle  108  to the clamp. Subsequently, clockwise and counterclockwise rotation of the rotary portion  108 A of the micrometer handle  108  [see FIG.  1 A] causes the mobile translation stage  110  to translate linearly with respect to base  104 . 
     FIGS.  2 A-C show alternate embodiments for the interlocking dovetail design of the motion modules of the current invention. Each of the embodiments is distinguishable one from the other on the basis of the surfaces at which the interlocking actions takes place. FIG. 2A shows a male and female base, respectively  200 A- 202 A. The male base has an upper surface  204  divided into a left portion  204 A and a right portion  204 B by an upward protruding male dovetail generally  206 A. The male dovetail has an upper surface  208 A and inward sloping left and right surfaces  210 A-B. The female base  202 A has two downward protruding legs  212 AB defining between them a generally unshaped cavity with a base surface  214 A and left and right cavity walls  218 A-B. The left interior cavity wall  218 A is generally orthogonal to the cavity base surface  214 A. A portion of the right cavity wall  218 B slopes inward at an acute angle with respect to the base surface  214 A. The angle of this slope is complementary to the angle formed by the outward sloping face  210 B of the male dovetail  206 A. A set screw  222 A extends through a threaded hole  220 A in the left leg of the female base. This set screw is positioned to frictionally engage the outward sloping left face  210 A of the male dovetail. As the set screw is tightened, the inward sloping right surface  218 B of the female dovetail is drawn into contact with the outward sloping right surface  210 B of the male dovetail. In response to the bias action initiated by the set screw, an upper left and right surface  216 A-B of, respectively, the left and right legs  212 A-B of the female base are drawn into contact with the upper left and right surfaces  204 A-B of the male base  200 A. In the embodiment shown in FIG. 2A, the wide separation between the clamping surfaces  204 A,  216 A and  204 B,  216 B results in accurate horizontal alignment of the female base with respect to the male base. 
     FIG. 2B shows an alternate embodiment of the male-female dovetail combination. In this embodiment clamping of the male and female dovetail occurs not at the widely separated base and upper leg surfaces shown in FIG. 2A, but rather at the top surface of the male dovetail and the base face of the female cavity. FIG. 2B shows a male and female base, respectively  200 B- 202 B. The male base has an upper surface divided into a left and right portion  204 C- 204 D by an upward protruding male dovetail  206 B. The male dovetail has an upper surface generally  208  defined by a left and right portion  208 B,  208 D between which a recess  208 C is defined. The male dovetail has a right outward sloping surface  210 D and a left outward sloping surface  210 C. The female base has a left and a right downward protruding leg, respectively  212 C-D. The left and right leg define between them a cavity, generally u-shaped in cross-section, which has an interior base surface  214 B and a left and right interior surface walls  218 C-D. The left interior surface wall is generally orthogonal to the base surface  214 B. The right interior surface wall  218 D is inward sloping at an angle complementary to that of the angle of the outward sloping surface  210 D of the male dovetail  206 B. The left and right legs  212 C-D define at their extremities downward facing left and right surfaces  216 C-D, respectively. A set screw  222 B is positioned in the left leg  212 C within a threaded hole  220 B. The tip of the set screw frictionally engages the outward sloping left surface  210 C of the male dovetail. As the set screw is threaded inward, the right inward sloping surface  218 D of the female dovetail is brought into frictional engagement with the right outward sloping surface  210 D of the male dovetail. Further tightening of the set screw results in a clamping action between the left and right upper surfaces  208 B,  208 D of the male dovetail and the base surface  214 B of the female cavity. Thus, in contrast to the dovetail design shown in FIG. 2A, the dovetail design of FIG. 2B exhibits somewhat less accurate horizontal positioning of the female with respect to the male base due to the narrower separation between contact points on the male and female dovetails. 
     FIG. 2C is another embodiment of the dovetail feature of the current invention. FIG. 2C exhibits perhaps the least accurate horizontal planarization of the male with respect to the female base because in that embodiment resultant clamping action occurs on the angular surfaces of the male and female dovetail. FIG. 2C shows a male and female base, respectively  200 C- 202 C. The male base has left and right upper surfaces, respectively  204 E-F between which protrudes a male dovetail generally  206 C. The male dovetail has an upper surface  208 E and outward sloping left and right surfaces  210 E-F. The female base has left and right downward protruding legs  212 E-F at the terminus of which is defined left and right downward facing surfaces  216 E-F. Between the left and right legs is defined a female dovetail shaped cavity having a base surface  214 C, a left inward sloping surface  218 E and a right inward sloping surface  218 F. The left and right inward sloping surfaces of the female dovetail have an angulation complementary to that of the outward sloping left and right surfaces  210 E-F of the male dovetail so as to allow frictional contact between the two. Frictional contact between these two pairs of sloped surfaces is brought about by a set screw  222 C positioned in threaded hole  220 C within female base  202 C. The engagement of the set screw results in contact between the tip of the set screw and the upper surface  208 E of the male dovetail. As the set screw is extended, the separation between the upper surface of the male dovetail and the base surface  214 C of the female cavity is increased. This increase results in frictional contact between outward sloping surfaces  210 E-F of the male dovetail and the inward sloping surfaces  210 E-F of the female dovetail. The planarization between the male and female base in the embodiment shown in FIG. 2C is largely a function of the accuracy of machining of the male and female outward and inward sloping dovetail surfaces. Thus, this third embodiment exhibits less potential for planarization of the male and female bases than do either the embodiments in shown in FIG. 2A or  2 B. 
     FIG. 3 is an isometric view of the motion module  100 A shown in FIG. 1A with a second motion module affixed thereto. The combination of the motion modules allows translation of an object about both the X and Y axis. Breadboard  98 , dovetail  102 , a first motion module  100 A and a second motion module  300  are shown. The breadboard  98 , the dovetail  102  and the first motion module  100 A are identical to those described and discussed above in FIG.  1 A. On the upper most surface of  112  [see FIG.  1 A] of the mobile translation stage  110  of the motion module  100 A is mounted a male dovetail  132 . That dovetail is rigidly affixed to the mobile translation stage  110 . The second motion module  300  is rigidly affixed to the first motion module  100 A in the manner described and discussed as follows. 
     The second motion module  300  includes a base  304  and a mobile translation stage  310 . The base  304  defines a female dovetail cavity  320 . The base also includes a dovetail set screw  322  and spring openings  330 . Finally the base includes a clamp  306  and a positioning element with a handle  308  and a tip  328 . The mobile translation stage  310  includes an upper surface  312  and a male dovetail  332 . The male dovetail includes counterbore holes  334 , fastening bolts  336  and alignment pins  338 . 
     Structurally the female dovetail defined within base  304  extends along a longitudinal axis which is orthogonal to the translation access of the mobile translation stage  310 . Set screw  322  is extensible within a threaded hole having a longitudinal access orthogonal to the longitudinal axis of the female dovetail and positioned to allow the intersection of the tip of the set screw  322  with an outward sloping surface of the male dovetail  132 . The clamp  306  is rigidly affixed by means of fastener screws [not shown] to the base  304 . A stationary portion  308 B of the positioner is rigidly affixed within clamp  306 . In this fixed position the tip  328  of the positioning tool is in contact with an end of mobile translation stage  310 . The mobile translation stage  310  is slideably affixed to base  304  by means of linear bearings similar to those described and discussed above in FIGS.  1 C-D in connection with the first motion module  10 A. The male dovetail  332  is fastened to the upper surface  312  of the mobile translation stage  310  by means of mounting bolts  336  positioned within the counterbore holes  334  within the dovetail. Rigid alignment of the dovetail  332  with respect to the mobile translation stage  310  is achieved by means of alignment pins  338 . 
     To assemble the second motion module  300  atop the first motion module  100 A, the female dovetail  320  of the second motion module  300  is set astride the male dovetail  132 . The male dovetail is itself rigidly affixed to the mobile translation stage  110  of the first motion module  100 A. Next, dovetail set screw  322  is torqued to the point where its tip makes contact with an outward sloping surface of the male dovetail  132 , thereby drawing a lower surface of the base  304  of the second motion module into intimate contact with the upper surface  112  [see FIG.  1 A] of the mobile translation stage  110 . 
     In operation clockwise and counter clockwise movement of the rotary portion  108 A of positioner handle  108  causes the tip  128  [see FIG.  1 A] of that first motion module positioner to move the mobile translation stage  110  in a positive and negative direction along the Y-axis. Translation along the Y-axis is achieved by means of the extension and retraction of the tip  128  [see FIG.  1 A.] of the positioner handle  108 . Similarly, clockwise and counter clockwise rotation of the rotary portion  308 A of the micrometer positioner handle  308  results in translation on the X-axis. When the rotary portion  308 A of the handle  308  is rotated in a clockwise direction, the tip  328  of the positioner moves the mobile translation stage  310  along the positive X-axis. Alternately as the positioner handle  308  is rotated in a counter-clockwise direction, the mobile translation stage  310  is drawn by the bias springs within holes  330  in a direction along the negative X-axis thereby maintaining contact with the receding tip  328  of the positioner. 
     FIG. 4A is an isometric view of the two motion modules described and discussed above in FIG. 3 onto which is mounted an angle bracket  500  and a third motion module  400 . The resultant combination provides axial translation along each of the X-Y-Z axis. The lower surface of angle bracket  500  is rigidly affixed by means of a male female dovetail combination to an upper surface of the second motion module  300 . A vertical face of the angle bracket  500  is affixed to the base  404  of the third motion module by means of a male-female dovetail combination. The vertical surface  412  of the mobile translation stage of the third motion module  400  is moveable along a Z-axis by means of clockwise and counter clockwise motion of the rotary portion  408 A of the positioner handle  408 . The vertical surface  412  is moveable along the Y-axis by means of the clockwise and counter clockwise rotation of the rotary portion  308 A of the positioner handle  308  of the second motion module  300 . Finally the vertical surface  412  is moveable along the positive and negative Z-axis by means of clockwise and counter clockwise rotation of the rotary portion  108 A of the positioner handle  108  which is part of the first motion module  100 A. 
     FIG. 4B is an exploded isometric view of the three motion modules in the X-Y-Z-axis translation configuration shown in FIG.  4 A. FIG. 4B includes the breadboard dovetail  102 , the first, second and third motion modules respectively  100 A,  300  and  400 , and the angle bracket  500 . Each of the first and second motion modules as well as the angle bracket includes male-female dovetail combinations for affixing each of the motion modules and the angle bracket one to another. 
     The first and second modules  100 A,  300  have been described and discussed in detail above in connection with FIGS. 1A and 3. The angle bracket  500  includes a downward facing surface  504  and a surface  512  at right angles to the downward facing surface  504 . Defined within the downward facing surface  504  is a female dovetail  520  which extends along a length of the downward facing surface. To the vertical surface  512  is attached a male dovetail  532 . The male dovetail contains counterbores  534  into which fastening bolts  536  are place to threadably attach the dovetail  532  to threaded holes within vertical surface  512 . The third motion module  400  includes a base  404  and a mobile translation stage  410 . The base includes a female dovetail  420  and a dovetail set screw  422 . The mobile translation stage  410  includes an upper vertical surface  412 , a clamp  406  and a positioner handle  408  with a rotatable portion  408 A and a stationary portion  408 B. 
     Because of the influence of gravity, the clamp  406  is shown attached to the mobile translation stage  410  rather than the base  404 . This is in contrast to both the method of attachment in the first and second motion modules in which the clamps  106  and  306  respectively, are attached to the base. Additionally the bias on the translation stage with respect to the base, is the reverse of the bias discussed above in connection with the first and second motion modules  10 A,  300 . In the case of the first and second motion modules, the translation stage is biased into contact with the tip  128 ,  328  of the first and second motion module positioners. In the case of the third motion module  400  the mobile translation stage  410  is biased so as to draw the tip of the positioner handle  408  into contact with the base  404 . 
     The assemblage of the X-Y-Z motion modules is accomplished in the following manner. The female dovetail  120  defined within the base  104  of the first motion module  100 A is placed astride the male dovetail  102  which is affixed to the breadboard  98  [see FIG.  4 A]. Next, set screw  122  is threaded inward until such time as its tip makes contact with an outward sloping surface of male dovetail  102  thereby causing an inward sloping surface of female dovetail  120  to make contact with an opposing outward sloping surface of male dovetail  102 . This accomplishes the fastening of the first motion module  100 A to the male dovetail  102 . Next, the female dovetail  320  defined within the base  304  of the second motion module  300  is placed astride the male dovetail  132 . The male dovetail  132  is fixed atop the mobile translation stage  110  of the first motion module  100 A. Next, the dovetail set screw  322  is torqued inward to a point where its tip makes contact with an outward sloping surface of male dovetail  132  and in which an inward sloping surface of female dovetail  320  is drawn into contact with the remaining outward sloping surface of the male dovetail  132 . Thus, the second motion module  300  is drawn into rigid contact with the first motion module  10 A. Next, the female dovetail  520  defined within the lower surface  504  of the angle bracket  500  is placed astride the male dovetail  332 . The male dovetail  332  is rigidly fastened to the top of the mobile translation stage  310  which is part of the second motion module  300 . A dovetail set screw [not shown] is torqued inward through the angle bracket until it contacts an outward sloping surface of dovetail  332  and causes an opposing outward sloping surface of male dovetail  332  to frictionally contact an inward sloping surface of female dovetail  520 . Thus, the angle bracket  500  is drawn into fixed contact with the upper surface of the mobile translation stage  310  which is part of the second motion module  300 . Next, the female dovetail  420  defined within the base  404  of the third motion module  400  is placed astride the male dovetail  532 . The male dovetail  532  is rigidly fastened to a vertical surface  512  which is orthogonal to surface  504 . Then, set screw  422  is torqued to the point where it contacts an outward sloping surface of male dovetail  532  and causes an opposing outward sloping surface of male dovetail  532  to come into frictional engagement with an inward sloping surface of female dovetail  420 . Thus, the third motion module  400  is frictionally fastened to the vertical surface  512  of the angle bracket  500 . 
     In operation, motion about the X, Y and Z axis of the vertical surface  412  of the mobile translation stage  410  of the third motion module is brought about by respectively, rotational movement of the rotary portions  108 A,  308 A, and  408 A of the positioner handles  108 ,  308 , and  408  of the first, second and third motion modules. 
     As will be obvious to those skilled in the art, the angle bracket  500  is but one example of a variety of intermediate interconnect units allowing the interconnection of two motion modules. In alternate embodiments, the intermediate interconnects may have interconnect surfaces with a range of angular relationships including orthogonal, i.e. the angle bracket, and parallel. An example of a parallel interconnect would be back to back male-male, or female-female, or male-female dovetails. An example of an orthogonal interconnect would be the angle bracket  500  shown in FIGS.  4 A-B. 
     The intermediate interconnect units also allow motion modules with non-complementary interconnects, e.g. male dovetails, on the base and mobile stages to be stacked provided that intermediate interconnect units having complementary interconnects, e.g. female dovetails on their two interlock surfaces, are utilized. 
     Interlocking Motion Modules 
     As will be obvious to those skilled in the art, a number of interlocking arrangements for the motion modules can be suitably implemented without departing from the teachings of the invention. In addition to those interlocking shapes which resemble a dovetail in cross section, other acceptable cross sectional profiles having an interlocking features include but are not limited to: a “T” shaped male member in a similarly shaped slot, an “L” shaped male member in a similarly shaped slot, a “Y” shaped male member in a similarly shaped slot, an “i” shaped male member in a similarly shaped slot and an tongue shaped male member in a groove. 
     In each of the embodiments shown, all intermediate motion modules have complimentary male and female cross sectional dovetail shapes on respectively the mobile stage and base of each module. As will be obvious to those skilled in the art, this arrangement promotes a high degree of symmetry between each of the motion modules. This arrangement however, is not a prerequisite to the practice of the teachings of this invention. Alternately, for example, identical female cross sectional shapes could be defined in the mobile stage and base portion of one motion module provided only that the motion module to which it is to be attached has complimentary shapes at the point of attachment. In still another embodiment, motion modules with identical interlocking shapes can be connected with interconnect members which include complementary interlocking shapes. For example, identical female cross sectional shapes could be defined in the mobile stage and base portion of two motion modules to be stacked provided only that an interlocking member with complementary male members was provided to complete the assembly. 
     The reader will also note, that in the example shown up to this point, the complimentary male and female shapes defined within the mobile stage and base portion of each motion module are disposed along longitudinal axes which are orthogonal one to the other. As will be obvious to those skilled in the art, this feature also promotes a high degree of symmetry between motion modules, but is not a prerequisite to the practice of the current invention. In alternate embodiments, it is possible that the interlocking shapes, e.g., dovetails, defined in the mobile translation stage and the base or in an interconnect member have longitudinal axis which are parallel, rather than orthogonal. 
     Linear Translation 
     As will be obvious to those skilled in the art, the linear translation of the mobile stage with respect to the base can be achieved by alternate means to those discussed above in connection with the linear bearing shown in FIGS.  1 C-D. Alternate translation mechanisms include linear ball bearings, linear needle bearings, linear roller bearings, sliding low friction surfaces, air bearings, flexure members, maglev, and hydraulic bearings. 
     Positioning Mechanism 
     As will be obvious to those skilled in the art, alternate embodiments of the invention include positioning members beside those shown and discussed above in connection with FIGS.  1 - 4 . Suitable positioning members include the above-mentioned micrometer and in addition, thumb screws, set screws, lead screws, piezoelectric, magnetostrictive, linear motors and electromechanical actuators. 
     Bias Members 
     As will be obvious to those skilled in the art, alternate embodiments of positioning members, e.g., a lead screw, would not require the spring bias members which are shown in connection with FIGS.  1 C-D for biasing the mobile translation stage with respect to the base. A lead screw positioning system for example, may not require a bias member, because the mobile translation stage would be captive mechanically in either direction of travel. In addition to those positioning embodiments not requiring a bias member, alternate embodiments of the invention which do require a bias member can utilize alternate bias members. For example, the translation stage could be magnetically biased towards the tip of the positioner. Alternately the bias member could be an electrical device such as a solenoid. 
     Translation 
     The motion modules described and discussed above exhibit singly, only one axis of linear translation. As will be obvious to those skilled in the art, motion modules incorporating the inventive features described and discussed herein, can be fabricated with multiple axis of either linear and/or rotational motion. 
     FIG. 5 shows an alternate embodiment of the current invention in which a motion module according to the current invention provides for linear translation along the Z-axis. The breadboard  98 , male dovetail  102 , modular angle bracket  500  and third motion module  400  are shown. The motion module  400  includes a male dovetail  432  is fastened to the upper surface  412  of the mobile translation stage  410  by means of mounting bolts  436  positioned within the counterbore holes  434  within the dovetail. Rigid alignment of the dovetail  432  with respect to the mobile translation stage  410  is achieved by means of alignment pins  438 . The dovetail  102  is rigidly affixed to the breadboard  98  by means of mounting bolts  118 A-B positioned within oval counterbores  116 A-B. A female dovetail  522  defined within the lower surface of angle bracket  500  is placed astride male dovetail  102 . A dovetail set screw is then torqued to engage its tip with an outward sloping surface of the male dovetail  102  thereby causing the opposing outward sloping surface of the male dovetail to engage an inward sloping surface of female dovetail  522  within the lower surface of angle bracket  500 . On a surface orthogonal to the lower surface on the angle bracket, male dovetail  532  is rigidly attached. A female dovetail  420  defined within the lower surface of base  404  is placed astride the male dovetail  532 . Then a set screw is torqued through the base  404  until its tip comes into contact with an outward sloping surface of male dovetail  532  causing an opposing outward sloping surface of the male dovetail to frictionally engage an inward sloping surface of the female dovetail  420 . Thus, the third motion module  400  is rigidly affixed to the orthogonal face of the angle bracket  500 . 
     In operation the translation about the Z-axis of the mobile translation stage  410  is accomplished by means of clockwise and counter-clockwise rotation of the rotary portion  408 A of the positioner handle  408 . This rotation causes the tip of the positioner to displace the mobile translation stage  410  with respect to the base  404  along the Z-axis. As discussed above, the bias members, e.g., springs affixed on one end to the mobile translation stage  410  and on the opposing end to the base, continually bias the tip of the positioner into contact with the base  404 . 
     FIG. 6 shows an alternate embodiment of the current invention, in which motion modules  100 A and  400  are combined with angle bracket  500  to provide linear translation about both the Y and Z axis. The first motion module  100 A and specifically the female dovetail  120  defined in the base  104  of that module is placed astride the male dovetail  102 . Next, dovetail set screw  122  is torqued so that the tip of the set screw contacts an outward sloping surface of male dovetail  102  and causes an opposing outward sloping surface of male dovetail  102  to frictionally engage in inward sloping surface of female dovetail  120 . Thus, the first motion module  100  is rigidly affixed to the breadboard  98 . Next, a female dovetail defined within a lower surface of angle bracket  500  is placed astride a male dovetail on the upper surface of mobile translation stage portion of motion module  100 . Then a dovetail set screw [not shown] is torqued until a clamping action between the male and female dovetail surfaces is achieved. Thus, the angle bracket is fastened to the translation stage of the first motion module. Next, a female dovetail  420  defined within the base  404  of the third motion module  400  is placed astride a male dovetail  532  on a vertical surface of the angle bracket. The vertical surface is orthogonal to the base surface of the angle bracket. Next, a dovetail set screw is torqued until a clamping action is achieved between the main surfaces of the male and female dovetails  532 ,  420 . Thus, the third motion module  400  is rigidly affixed to the vertical face of angle bracket  500 . 
     In operation clockwise and counter clockwise rotation of the rotary portion  108 A of the positioning handle  108  of the first motion module  100 A results in motion along the Y-axis. Alternately, clockwise and counter clockwise rotation of the rotary portion  408 A of the positioner handle  408  of the third motion module  400  results in motion of the translation stage  410  along the Z-axis. 
     FIG. 7 shows an alternate embodiment of the current invention in which linear translation about both the Z and X axis is provided. A breadboard  98 , a male dovetail  102 , an angle bracket  500 , a third motion module  400  and a second motion module  300  are shown. A male dovetail  102  is rigidly affixed to breadboard  98  by mounting bolts, e.g.,  118 A, which are placed within the oval counterbores, e.g.,  116 A, of that dovetail. Next, a female dovetail  522  defined within a lower surface of angle bracket  500  is placed astride the male dovetail  102 . Then a dovetail set screw is torqued until its tip contacts an outward sloping surface of male dovetail  102 . This causes a clamping action between the male and female dovetails  102  and  522 . Thus, the angle bracket is firmly affixed to the breadboard  98 . Next, a male dovetail  532  is affixed to a vertical surface of the angle bracket  500  which is orthogonal to the angle bracket base. Then, a female dovetail  420  defined within the base of the third motion module  400  is placed astride the male dovetail  532 . Then, a dovetail set screw is torqued to produce the cooperative clamping action between the male and female dovetails  532 ,  420 . Thus, the third motion module  400  is rigidly affixed to the vertical face of angle bracket  500 . Finally, a female dovetail  320  defined within the base  304  of the second motion module  300  is placed astride a male dovetail  432  protruding from the upper vertical surface of mobile translation stage  410  which is part of the third motion module  400 . Then, dovetail set screw  322  is torqued to produce a cooperative clamping action between the male and female dovetails  432 ,  320 . Thus, the second motion module  300  is rigidly affixed to the third motion module  400 . 
     In operation clockwise and counter clockwise rotation of the rotary portion  408 A of the third stage positioner handle  408  produces positive and negative Z axis translation while corresponding rotation of the rotary portion  308 A of handle  308  of the second motion module produces linear translation along the X axis of the mobile translation stage  310 . The mobile translation stage  310  presents a vertical surface on which is mounted a dovetail  332  and on to which objects such as optical, biological, and electrical components or other motion modules can be mounted. 
     FIG. 8 is a exploded isometric view of a motion module with a positioner attached for X/Y axis installation or for Z axis installation. In the example shown the Z-axis corresponds to the gravitational axis. The motion module  800  includes a base  804  and a mobile translation stage  810 . The base includes a female dovetail  820  and bias spring bores  830 . A motion translation stage  810  is biased in the direction shown by arrow  870  with respect to the base  804 . The motion module  800  is located such that the translation stage  810  moves linearly along either the X or Y axis. In that case it is appropriate to mount the clamp  806 A to the base  804 . This is accomplished by fastening screws which are placed within holes  860 A of the clamp and which threadably engage holes  862 A in the base. The holes  862 A are in the end of the base toward which the mobile translation stage  810  is biased. A stationary portion  808 B of the positioning element is frictionally engaged by clamp  806 A. This causes an end of the mobile translation stage  810  to frictionally contact the tip  828 A of the positioning element. Rotation of the handle portion  808 A of the positioner causes the tip  828 A to extend and retract thereby causing the translation stage  810  to move linearly with respect to the base  804 . 
     Alternately, the mobile translation stage  810  may be positioned to move parallel to the Z-axis, i.e. gravitational axis. Then, the positioning handle is advantageously attached to the opposite end of the motion module, and to the mobile translation stage rather than the base. This configuration aligns the gravitational force on the mobile stage and the spring bias force  870  of the mobile translation stage  810 . In this configuration the clamp  806 B is rigidly affixed to the translation stage  810 . This is accomplished by means of fastener screws placed within holes  860 B of clamp  806 B. The screws threadably engage holes  862 B within the mobile translation stage  810 . A stationary portion  808 D of positioner  808  is fastened by clamp  806 B. In this configurationrotation of handle  808 C results in positioning pressure from the tip  828 B of the positioning element frictionally engages an edge of base  804  and works against both the gravitational and spring bias force  870 . This arrangement helps assure that any weakening over time of the bias member should not effect the accuracy, precision, or repeatability of the linear translation and positioning. 
     Of course this will be obvious to those skilled in the art, a suitably designed bias member which would not experience degradation due to the gravitational force would allow the type of positioning member shown in FIGS.  1 - 8  to be attached to the base whether the orientation of the linear translation stage was along either the X or Y or Z axis. 
     FIG. 9A shows an alternate embodiment of the invention in which two different types of motion modules are rigidly affixed one to another by means of the interlocking dovetail design of the current invention. Motion modules  900  and  100 A are shown. Motion module  100 A includes a base unit  104  and a mobile translation stage  110 . A female dovetail  120  is defined within base  104  and a male dovetail  132  protrudes from an upper surface of mobile translation stage  110 . Motion module  900  provides for rotational movement of a mobile rotational stage  910  with respect to its base  904 . Within base  904  is defined a female dovetail  920  and a threaded set screw hole for set screw  922 . The upper surface of the mobile rotational stage  910  includes fastening holes  914 . 
     Attachment of the rotational motion module  900  to the translational motion module  100 A is accomplished in the following manner. The female dovetail  920  defined within base  904  of the rotation motion module  900  is placed astride male dovetail  132 . Male dovetail  132  is rigidly affixed to the mobile translation stage  110  which is part of the first translational motion module  100 A. Then, set screw  922  is torqued so that its tip comes into contact with an outward sloping surface of male dovetail  132  thereby resulting in an opposing outward sloping surface of male dovetail  132  to come into frictional engagement with an inward sloping surface of female dovetail  920 . Thus, the male and female dovetails and the corresponding motion modules of which they are a part are rigidly affixed one to another. 
     FIG. 9B shows an embodiment similar to that shown in FIG. 9A with the exception that the orientation i.e., upper and lower of the rotational motion module  900  with respect to the translational motion module  100 A is reversed. In this embodiment, the translation motion module  100 A is mounted on top of the rotational motion module  900 . 
     A male dovetail  932  is rigidly affixed to the mobile rotational stage  910  of the rotational motion module  900 . Threaded fastening holes  914  [see FIG.  9 A] can be used for this purpose. The female dovetail  120  defined within the base of the first translational motion module  100 A is placed astride the male dovetail  932 . Then, dovetail set screw  122  in the base  104  of the first translational motion module is torqued to produce a clamping action between the female dovetail  120  and the male dovetail  932 . Thus, the first translational motion module is rigidly affixed to the rotational stage of the rotational motion module  900 . In this embodiment, translation of the mobile translation stage  110  along the X or Y or any intermediate angulation can be accomplished by means of the rotation of mobile rotational stage  910  and the translation of mobile translation stage  112 . 
     FIGS.  10 A-B show alternate embodiments for providing a breadboard cap for a motion module. The breadboard cap provides a planar surface to which a broad range of objects can be attached. FIG. 10A shows the first translational motion module  100 A with a breadboard  1010  rigidly affixed to the mobile translation stage  110 . Counterbore holes  1014 A-B within that cap accommodate alien head set screws respectively,  1016 A-B which align with corresponding threaded holes in the mobile translation stage  110  to affix the breadboard  1010  to that translation stage. 
     In FIG. 10B the breadboard  1010  defines within its lower surface a female dovetail  1020 . That female dovetail is placed astride a male dovetail  132  rigidly affixed to the mobile translation stage  110  of the first translational motion module  100 A. Subsequent torquing of dovetail set screw  1022  causes a cooperative clamping action between male dovetail  132  and female dovetail  1020 . Thus fastening the breadboard  1010  to the mobile translation stage  110  of the first translation motion module  100 A. 
     FIG. 11 shows an alternate embodiment of the current invention in which a planarizing motion module  1100  is shown. The planarizing motion module has a kinematic design in which combinations of rotation and translation can be produced by adjusting each of the three kinematic adjustment screws which position the base  1104  with respect to the translation stage  1110 . The planarizing motion module  1100  has a base  1104  and a mobile planarization stage  1110 . The base  1104  defines on a lower surface thereof, a female dovetail  1120 . The base includes a dovetail set screw  1122  and additionally three kinematic adjustment screws of which  1112 A-B are referenced. The mobile planarizing stage  1110  includes mounting holes  1114  and a male dovetail  1132 . The male dovetail includes counterbore holes  1134  into which are placed mounting bolts  1136  to rigidly affix the male dovetail to the upper surface of the mobile planarizing stage  1110 . Alignment pin holes  1138  in the dovetail and mobile planarizing stage allow the dovetail to be precisely positioned with respect to the mobile planarizing stage. 
     In operation a female dovetail  1120  is placed astride a male dovetail of another motion module. By torquing dovetail set screw  1122  planarizing motion module  1100  can be rigidly affixed to a neighboring motion module. Similarly, another motion module can be clamped to the upper surface of the mobile planarizing stage  1110  by means of the cooperative action between provided by the male dovetail  1132  and a female dovetail element on the motion module to be mounted. 
     FIG. 12 shows the first translational motion module  100 A and a holder  1210  for an optic element rigidly affixed thereto. The optic element includes a base portion  1204  in which is defined a female dovetail  1220 . The base additionally includes a dovetail set screw  1222 . The optic holder portion  1210  is rigidly affixed to the base  1204 . The optic holder includes a circular counterbore  1212  in which an optic element such as a mirror or lens may be positioned. The mirror or lenses can be rigidly clamped within the bore by means of a set screw  1224  which is positioned radially within the optic holder  1210  with respect to the counterbore  1212 . 
     The base  1204  of the optic element holder  1210  and specifically the female dovetail  1220  defined therein is set astride a male dovetail  132  which is in turn affixed to the upper surface of mobile translation stage  110 . Next, the dovetail set screw  1222  is torqued until its tip engages in outward sloping surface of male dovetail  132  and causes an opposing outward sloping surface of that dovetail to engage an inward sloping surface of female dovetail  1220 . Thus, the optic element holder and base are rigidly fastened to the mobile translation stage  110 . 
     In operation clockwise and counter clockwise rotation of the rotary portion  108 A of positioner handle  108  causes the optic element to translate along the X-axis. 
     FIG. 13 is an isometric view of a mutli-axis linear-rotational motion module  1300  mounted on a single axis linear motion module  100 A. Linear motion modular  100 A includes, as discussed above, a base  104 A and a mobile stage  110 . The base  104 A includes a female dovetail  120  and a set screw  122 . The base also includes a positioner clamp  106 . The mobile stage  110  includes an upper face  112  and a male dove tail  132 . The male dove tail  132  is rigidly fixed to the upper face  112  of the mobile stage  110 . 
     The multi-axis linear-rotational motion module  1300  includes a base  1304 , and a stage  1310 . The base includes a female dovetail  1320 , a set screw  1322 , and positioning screws  1340 A-B. The mobile stage  1310  includes a male dovetail  1332 . The male dovetail includes counterbores  1334 , mounting bolts  1336  and alignment pins  1338 . 
     The mobile stage  1310  is attached to the base  1304  by flex members  1318 A-B. The mobile stage  1310  is positionable with respect to the base  1304  along either or both the X-Z axes. The positioning of the mobile stage  1310  is accomplished by means of positioning screws  1340 A-B positioned along orthogonal axes through base  1304  which axes intersect mobile stage  1310 . 
     To assemble the multi-axis linear-rotational motion module  1300  to the single axis linear motion module  100 A, the female dovetail  1320  of motion module  1300  is placed astride male dovetail  132 . The torsioning of set screw  1322  results in the clamping action produced by the tip of the set screw  1322  and the opposing surfaces of the male dovetail  132  and the female dovetail  1320 . This results in the fastening of motion module  1300  to the motion module  100 A. The assembly comprising the two motion modules allows positioning of the stage  1310  on any one or all of the X-Y-Z axes. 
     As will be obvious to those skilled in the art, other mutli-axes motion modules can be fabricated which produce linear-linear, linear-rotational, and rotational-rotational motion. These modules can be equipped with the interlocking feature of the current invention to allow their combination with other motion modules for multi-axis positioning of objects. 
     Although the foregoing invention has been described in detail for purposes of clarity of understanding, it will be obvious that certain modifications may be practiced within the scope of the appended claims.