Abstract: A manipulation device for manipulating and/or processing a workpiece includes a first motion unit for generating a linear motion of a first component and a second motion unit for generating a linear motion of a second component. The motion units are arranged relative to each other such that the motions that can be generated by the motion units are aligned parallel to each other. The first and second components are connected via first and second hinge joints, respectively, to a fastening element that is suitable for receiving a workpiece and/or a tool. The first and second hinge joints comprise first and second guide arms, respectively, which are coupled to the first and second components, respectively, via revolute joints. The first and second guide arms are coupled directly or indirectly to each other by at least one revolute joint so as to be pivotable relative to each other.

Abstract: The invention relates to a manipulation device for manipulating and/or processing a workpiece, comprising a first motion unit (12a) for generating a linear motion (B1) of a first component (22a) and a second motion unit (12b) for generating a linear motion (B2) of a second component (22b). The motion units (12a, 12b) are arranged relative to each other such such that the motions (B1, B2) that can be generated by the motion units (12a, 12b) are aligned parallel to each other, wherein the first component (22a) is connected via a first hinge joint (24a, 26a) and the second component (22b) is connected via a second hinge joint (24b, 26b) to a fastening element (29, 29?) that is suitable for receiving a workpiece and/or a tool. The first hinge joint comprises a first guide arm that is coupled to the first component by means of a revolute joint, and the second hinge joint comprises a second guide arm (26b) that is coupled to the second component by means of a revolute joint.