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Tension and torsion combined static bearing servo actuator is a device that outputs tensile force and torsional force in electro-hydraulic servo system, and is a key component of dynamic loading. It is mainly used in the field of dynamic, static and fatigue testing. The Tension and torsion combined static bearing servo actuator is mainly composed of the servo linear cylinder, the servo swing cylinder, the displacement sensor, the Angle sensor and the connection mechanism of the linear cylinder and the swing cylinder, etc., which can realize a variety of closed-loop control.