A manipulator for receiving and displacing an object, comprising a moving portion, adapted to receive the object. Four support legs each extend between the moving portion and a ground for supporting the moving portion. Each support leg is connected to the ground by a first joint, and with sequentially second, third, fourth and fifth joints connecting the first joints to the moving portion. The support legs are topologically equivalent to one another with respect to the joints. Each of the support legs has constraints in the joints operable to restrict movement of the moving portion to three translational degrees of freedom and one rotational degree of freedom. Actuators are each operatively connected to a different first joint for controlling the movement of the moving portion in any one of the four translational degrees of freedom. A method for controlling the movement of the moving portion is provided.