Does this mean you are CNC'ing the Knee as Z?
You could use a Ball Screw Jack such as Nook make, even if there is slight backlash, the pressure will always be downward to take it up.
The motor is mounted on the Jack input worm drive shaft, right angles to the B.S.
If fitting pneumatic counterbalance, you will need a cylinder either side of the knee and a compensating valve set up to maintain pressure in the up and down stroke.
Al.


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