A system is provided for positioning an article. In this regard, one embodiment of the system, among others, can be broadly summarized as follows. The system contains a frame and a series of actuators connected to the frame, where the series of actuators contains at least one armature therein. The at least one armature is connected to an article and the series of actuators provides a force on the at least one armature to actuate movement of the at least one armature, thereby causing movement of the article. Each actuator further contains at least one winding set capable of providing a coil flux, at least one permanent magnet capable of providing a permanent magnet flux, and a magnetically conductive core having the permanent magnet therein and at least a portion of the at least one winding set therein. The series of actuators provides the at least one armature and the article with more than one degree of freedom.