a manipulator having an object holder which can be moved in three directions of translation and three directions of rotation . the object holder is connected by coupling members to driving members secured to a frame . a modular construction is obtained by making the coupling members for the directions of translation and the directions of rotation identical to each other , respectively . the driving members for the directions of translation and the directions of rotation , respectively , are also identical . the modular construction results in a very accurate construction with a minimum number of different components .