Abstract: High precision apparatus is described which can be arranged and used in the form of manipulators, actuators, position transducers or force transducers, having four to six degrees of freedom. A movable platform (2), to which the object (3) subjected to movements or forces is fixed, is connected to a base (1) of the apparatus by six links in parallel. These links comprise articulated kinematic units (11-16) each comprising a deformable parallelogram and an articulated transmission device connecting the parallelogram to the platform (2). The parallelogram is associated with a position sensor and an electromagnetic transducer, such as a linear motor.

Abstract: The digital force sensor (1) includes a measuring cell (2) which is able to be deformed elastically, the deformation of said cell (2) directly resulting from the force with which a robot arm approaches a discrete electronic component (11) in a magazine, then mounts it onto a printed circuit, and digital means (3) for measuring a displacement representative of the deformation of said cell (2), then supplying in response to said displacement a digital signal corresponding to the direct measurement of the force with which the robot arm approaches, then mounts the electronic component onto the printed circuit.