The device is adapted to move and position a first basic part (6) relatively to a second basic part (4). It has at least three arms (1,2,3,7) capable of being extended and shortened in a controlled manner. The arms are free to pivot in attachments (5) on the second basic parts, while one attachment in the first basic part is rigid, and one of the arms is torsionally rigid. A third basic part (15) is connected to the first basic part (6) through a joint (16). At least one auxiliary arm (12,13) of adjustable length is connected to one of the arms (7) through a joint. The other end of the auxiliary arm is connected to the third basic part (15), which is adapted to hold a tool (14).
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