The invention relates to a mechanical structure which provides motion in
six degrees of freedom, which comprises: (a) a main plate; (b) a base;
(c) at least three supporting structures, each comprising a lower,
bridge-like section supported by the base, and an upper section connected
to said bridge section and to said main plate, wherein: (I) said
bridge-like structure comprising two supporting plates, two intermediate
plates, and one middle plate, all being serially connected one to another
by means of four transversal hinges; (II) each pair of said supporting
plates being slidable in linear displacement parallel to the base; (III)
said upper section comprising two plates, a lower plate connected to said
middle plate by means of a hinge transversal to said lower plate but
longitudinal with respect to said middle plate, and an upper plate
connected to said lower plate by means of a longitudinal hinge and to
said main plate by means of a transversal hinge; (d) At least six linear
motors connected each to a corresponding supporting plate, for applying a
force thereon in order to effect a linear displacement of said plate; and
(e) control means for determining the linear displacement of each linear
motor.