Sawyer motor

A Sawyer motor or planar motor is a type of linear electric motor with a forcer capable of moving in two dimensions, riding on a stator which is a large flat—or nearly flat—plate. Sawyer motors have been used in positioning stages and pen plotters.
This class of motors is named for Bruce Sawyer, who invented it in 1968.
The US-patent was submitted 1966 and granted 1968.
References.
5. Linear magnetic drive system (1973-05-22) U.S Patent 3,735,231A, B Sawyer