Conical motion can be performed using two stepper motors. The assembly is shown in the figure above. Steps are,
Step1: rotate motor B so that the rod is in an inclined position when we look from the top.
Step2: move the rod down so that vacuum pump assembly can pick the page and hold.
Step3: move the rod up by turning motor A in the opposite direction.
Step4: actuate motor B and rotate so that rod moves to the other side.
Step5: move the rod down if needed
Figure below shows the steps.
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