Patent ID: 7881823

Claim:
A robotic device for positioning and orientating a platform having a coordinate system (O f , x f , y f , z f ) and being movable relative to a base having a coordinate system (O 0 , x 0 , y 0 , z 0 ) the platform being located displaced from the base and being connected to the latter by first, second and third articulated leg structures forming three parallel mechanical connections, of which each one includes a series of leg segments connected to each other, in pairs, by pivoting joints each one having at least one pivoting axis, the opposite end portions of each of the three leg structures being connected by joints each having at least one pivot axis with the platform and with the base in predetermined connection points, wherein: the respective pivot axes of the pivoting joints of the first and second leg structures with the platform and the base are configured to define a first common axis of rotation (Δ 1 ) between the base and the two opposite leg structures and a second common axis of rotation (Δ 2 ) between the two opposite leg structures and the platform, said common pivot axes (Δ 1 and Δ 2 ) are coplanar in a first plane, pivot axes (X 1 ; X 2 ) of the pivoting joints connecting the leg segments of the first and second leg structures are all parallel between each other and perpendicular to a second plane, the first and second planes are not mutually perpendicular, the third articulated leg structure is connected, in an articulated manner, with the platform in a connection point not aligned with the connection points of the first and second leg structures with said platform and with the base in a connection point not aligned with the connection points the first and second leg structures with said base, parallel rotary joints provided by the first, second, and third leg structures permit a controlled determination of a position of the origin (O f ) of the coordinate system (O f , x f , y f , z f ) assigned to the platform and the orientation the platform coordinate system (O f , x f , y f , z f ) relative to the coordinate system (O 0 , x 0 , y 0 , z 0 ) assigned to the base, such that at least five degrees of freedom are provided.