Patent ID: 7496288

Claim:
A stage driving apparatus, comprising: a movable unit configured to move in a first direction and in a second direction different from said first direction, and to be rotatable on a movable-plane that is parallel both to said first and to said second directions; a fixed unit configured to support said movable unit as said movable unit is moved in said first and said second directions and rotated on said movable-plane; a first driving unit configured to supply a first driving force in said second direction to said movable unit; a second driving unit configured to supply a second driving force in said first direction to said movable unit: a third driving unit configured to supply a third driving force in said first direction to said movable unit: and a controller configured to control said first, said second, and said third driving forces; said first, said second, and said third driving units being attached to one of said movable unit and said fixed unit; a point, on said movable unit, that receives said second driving force from said second driving unit, comprising a second driving point; another point, on a said movable unit, that receives said third driving force from said third driving unit comprising a third driving point; and a line segment connecting said second and said third driving points not being parallel to said first direction.