Patent ID: 8578811

Claim:
A hexapod actuator device, resting on a substantially planar support, comprising: six legs, each of the six legs having a first end, and a second end opposite the first end; and six straight segments fixed relative to the planar support such that each of the six straight segments is either coplanar or inclined with respect to the planar support, each of the six straight segments defining a straight line that is distinct from all other straight lines defined by all other six straight segments, each of the six straight segments having a first end, and a second end opposite the first end, wherein projections of the straight lines onto the planar support all lie within a circular area of the planar support, a projection of each of the straight lines lying within a distinct sector of the circular area of the planar support, wherein the first end of each of the six legs is movable in translation along a corresponding straight segment, and wherein a second end of each of the six legs is mounted on a ball joint with three degrees of freedom in rotation, each ball joint being interdependent with a mobile platform.