Manipulator device comprising a pedestal and a carrying mechanism which is supported by said pedestal and which carries a platform intended to receive an object to be manipulated, such as a tool, wherein the said carrying mechanism forms an articulated triangle which comprises: - a first arm which is borne by a first carriage guided in translation on the pedestal, and which is articulated with said first carriage on a first pivot link about a first pivot axis which forms a first vertex of articulated triangle, - a second arm which is borne by a second carriage, distinct from the first carriage and guided in translation on the pedestal, and which is articulated with said second carriage on a second pivot link about a second pivot axis, which is parallel to the first pivot axis and forms a second vertex of the articulated triangle, - a seat, which offers a support to the platform and which corresponds to an intersection of the first arm and of the second arm, an intersection at which said first and second arms (10, 20) are articulated with respect to one another on a third pivot link, about a third pivot axis which is parallel to the first pivot axis and to the second pivot axis and which forms a third vertex of the articulated triangle, - a servocontrol module which controls, on the one hand, a first motor, specific to the first carriage, and, on the other hand, a second motor, specific to the second carriage and distinct from the first motor, so as to be able to distinctly servocontrol the respective translational movements of the first carriage and the second carriage (11, 21) with respect to the pedestal, in order to be able to modify the position of the seat with respect to the pedestal, and being characterized by - a yaw-orientation interface which comprises a fourth pivot link, called "yaw differential pivot", by which the platform is articulated on the seat, both relative to the first arm and relative to the second arm, by a yaw rotational movement called "yaw differential movement", about a fourth pivot axis called "yaw differential axis" which is coaxial to the third pivot axis. - a first arm which is borne by a first carriage guided in translation on the pedestal, and which is articulated with said first carriage on a first pivot link about a first pivot axis which forms a first vertex of articulated triangle, - a second arm which is borne by a second carriage, distinct from the first carriage and guided in translation on the pedestal, and which is articulated with said second carriage on a second pivot link about a second pivot axis, which is parallel to the first pivot axis and forms a second vertex of the articulated triangle, - a seat, which offers a support to the platform and which corresponds to an intersection of the first arm and of the second arm, an intersection at which said first and second arms (10, 20) are articulated with respect to one another on a third pivot link, about a third pivot axis which is parallel to the first pivot axis and to the second pivot axis and which forms a third vertex of the articulated triangle, - a servocontrol module which controls, on the one hand, a first motor, specific to the first carriage, and, on the other hand, a second motor, specific to the second carriage and distinct from the first motor, so as to be able to distinctly servocontrol the respective translational movements of the first carriage and the second carriage (11, 21) with respect to the pedestal, in order to be able to modify the position of the seat with respect to the pedestal, and being characterized by - a yaw-orientation interface which comprises a fourth pivot link, called "yaw differential pivot", by which the platform is articulated on the seat, both relative to the first arm and relative to the second arm, by a yaw rotational movement called "yaw differential movement", about a fourth pivot axis called "yaw differential axis" which is coaxial to the third pivot axis.