Kinematic device for supporting and programmably moving a terminal element in a machine or an instrument

The invention concerns a kinematic device for supporting and programmably moving a terminal element. The platform bearing the terminal element is linked by four swivel joints and with two legs each consisting of two support rods or forming deformable parallelograms mounted each on slides or mobile in the x direction. The pivot plate articulated on the platform about the hinge pin is controlled by the control rods, controlling pivoting and lateral displacement connected respectively by the swivel joints ( and ) to the slides ( and ). It consists in a parallel kinematics with four degrees of freedom, namely three translational and one rotational whereof the angle can be greater than 120°.