| 摘要 |
The invention relates to a device for setting in movement at least one movable assembly (11), formed by at least one object (21) to be driven and/or manipulated and its support (22, 31), in a plurality of predetermined directions. According to the invention, such a device comprises at least one structure (17) which defines a regular polyhedron whose internal volume, defined by at least four of its vertices (16<SUB>1</SUB>; 16<SUB>2</SUB>; 16<SUB>3</SUB>; 16<SUB>4</SUB>), forms a three-dimensional space for setting in movement said at least one movable assembly (11), so as to be able to modify the positions and orientations thereof by way of actuating means which are able to collaborate with said polyhedron, said actuating means comprising at least four sets of cables (12;13;14;15;45<SUB>1</SUB>;45<SUB>2</SUB>;45<SUB>3</SUB>;45<SUB>4</SUB>) tensioned respectively between one of said at least four separate vertices (16<SUB>1</SUB>; 16<SUB>2</SUB>; 16<SUB>3</SUB>; 16<SUB>4</SUB>) of said polyhedron and a point (213<SUB>1</SUB>; 213<SUB>2</SUB>) for attachment to said movable assembly to be driven and/or manipulated, wherein at least one of said sets of cables (12; 13; 14; 15) comprises at least two non-contiguous cables (24<SUB>1</SUB>; 24<SUB>2</SUB>; 25<SUB>1</SUB>; 25<SUB>2</SUB>; 26<SUB>1</SUB>; 26<SUB>2</SUB>; 27<SUB>1</SUB>; 27<SUB>2</SUB>) which are maintained parallel and form a deformable parallelogram (391; 310) for maintaining said movable assembly (11) in predetermined orientations relative to said structure (17).
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