“…A traditional focusing mechanism is composed of motors and transmission systems, mainly including worm and gear focusing mechanisms, a screw focusing mechanism, and a cam focusing mechanism. They provide a high accuracy and resolution, but at the cost of increasing the complexity and cost and reducing the reliability of the structure [ 5 , 6 , 7 , 8 , 9 ]. Some recent studies [ 10 , 11 , 12 , 13 , 14 ] have proposed improved focusing mechanisms, but they are still based on traditional focusing mechanisms and there are still movable motion pair, motion transformation, transmission error, friction, and wear problems.…”