Apparatus and method for positioning optical instruments

Abstract

The invention relates to a device for positioning an element of a spatial optical instrument mirror class instrument using an actuating member (3) provided with an elastically deformable body, the body of which can be deformed by means of a micrometer screw.

Description

Technical Field

[0001] The present invention relates to the field of positioning devices that require precise positioning, such as devices for optical instruments. The present invention is particularly related to, but not limited to, the field of spatial measurement. Prior Art

[0002] In the field of spatial measurement, it is known to use optomechanical fixtures to position devices such as mirrors or lenses.

[0003] WO 2012 / 041462 pamphlet discloses a positioning device having six adjustable legs forming a six-legged structure and capable of changing the position of a device in six degrees of freedom.

[0004] However, it has been found that positioning a device using such a device is time-consuming and cumbersome because adjustment disks need to be added and removed to change the length of each leg. This positioning requires repeatedly performing steps of measuring and determining the thickness of the disks, disassembling, adjusting, and reassembling. Furthermore, such a device has a problem with the reproducibility of adjustment in view of the steps of adding and removing disks and the corresponding assembly and disassembly steps.

Disclosure of the Invention

[0005] An object of the present invention is to overcome the drawbacks of conventional positioning devices, particularly to simplify the positioning of devices of space optical instruments or any other instruments that require precise positioning in three-dimensional space.

[0006] For this purpose, the subject of the present invention is a device for positioning equipment such as a mirror for a spatial optical instrument, comprising a base intended to receive or form part of equipment, and one or more actuators connected to the base. According to the present invention, at least one of the actuators comprises an elastically deformable body and a control mechanism configured to deform the body in order to change the position of the base.

[0007] Such a actuator makes it possible to change the length of the main body, and consequently the position of the base and equipment, without using removable adjustment parts such as discs. In this way, the equipment can be displaced or repositioned by simply deforming the body of the actuator. Therefore, the present invention makes it possible to simplify the positioning of equipment while ensuring precise and reproducible positioning.

[0008] In one embodiment, the body includes an effector component and two arms, each connected to the effector component so as to be spaced apart from each other in the control direction, and the control mechanism is configured to apply a mechanical force to the arms that can change the distance separating the arms in the control direction in order to displace the effector component in an operating direction perpendicular or oblique to the control direction.

[0009] In particular, the main body can be configured to displace the effector components in the operating direction in a first direction and a second direction, respectively, by moving these arms closer to and further apart from each other in the control direction. The effector component is preferably formed by a portion of the body that can form the end of the body along the operating direction.

[0010] In this case, the effector components can be formed by simple structural components of the main body that connect the arms to each other. Therefore, the effector components can be connected to the base in such a way that they displace the base when the main body is deformed by the action of the control mechanism.

[0011] In one embodiment, each arm of the main body includes a connecting portion connected to a control mechanism and a flexible component such as a strip that connects the connecting portion to the effector component of the main body. In one embodiment, the control mechanism includes a micrometer screw or a differential screw. Micrometer screws allow for precise adjustments in a simple manner.

[0012] The micrometer thread may include a first male thread and a second male thread. The first male thread can cooperate with a female thread formed by a first part of the body, such as the connecting part of one of the arms of the body, or by a first part of a control mechanism connected to this first part of the body. The second male thread can cooperate with a female thread formed by a second part of the body, such as the connecting part of another arm of the body, or by a second part of a control mechanism connected to this second part of the body.

[0013] In one embodiment, the micrometer screw forms a first adjustment screw, and the control mechanism includes a second adjustment screw having a hole that forms a female thread cooperating with the male thread of the first screw, and the control mechanism is configured to deform the main body under the action of the rotational displacement of the first screw and / or the second screw.

[0014] In the context of this embodiment, the second screw preferably includes a male screw that cooperates with a part of a control mechanism connected to the second part of the body. In one embodiment, the operating member includes means for translating the arm of the main body along the control direction.

[0015] The guiding means can be formed by the first and second parts of the control mechanism, or by two parts integrated with each arm of the main body, and these parts are preferably connected to each other by a sliding pivot link or a sliding link. In a modified example of one embodiment, the control mechanism includes a piezoelectric actuator. This actuator may include a deformable piezoelectric material interposed between the arms of the body of the actuating member.

[0016] In a modified example of another embodiment, the control mechanism includes a stepping motor. In one embodiment, the main body is connected to a base by a connecting member, which is connected to the main body by a connection that defines at least one degree of freedom. More specifically, this connecting member can be connected to the effector component. The connection between this connecting member and the main body may be a pivot connection or a ball joint connection. According to the first modified example, the connecting member is connected to the main body by a rod. Therefore, this connecting rod can form a ball joint connection that defines three degrees of freedom.

[0017] According to the second modified example, the connecting member is connected to the main body by a strip. Therefore, this connecting strip can form a pivotal connection that defines a single degree of freedom. Alternatively or additionally, the operating member may include a connecting member similar to those described above, intended to connect the main body to the base. In one embodiment, the operating member includes six operating members. Therefore, the operating member can form a six-legged body.

[0018] Preferably, each operating member comprises an elastically deformable body and a control mechanism configured to deform the body in order to change the position of the base. In one embodiment, the device includes a measuring system configured to determine the position of a table. The measurement system may be optical. In another aspect, the present invention also relates to a method for positioning equipment such as a mirror for a spatial optical instrument using the apparatus defined above.

[0019] In one embodiment, the method includes determining the position of the base using the measurement system described above, and determining the target configuration of one or more of the actuating members according to the target position of the base. The present invention also relates to a computerized tool configured to assist an operator in implementing the method defined above.

[0020] Preferably, this tool includes a model of the device described above. The tool can be configured to provide an adjustment command starting from the initial position of the base of the device. This initial position can be determined using the measurement system described above. Other advantages and features of the present invention will become apparent by reading the following detailed and non-limiting description.

Brief Description of the Drawings

[0021] The following detailed description refers to the accompanying drawings. [Figure 1] It is a schematic perspective view of a device for positioning a device such as a parabolic mirror provided with an actuating member according to a first embodiment of the present invention. [Figure 2] It is a schematic perspective view of one of the actuating members in FIG. 1. [Figure 3] It is a schematic cross-sectional view of the actuating member in FIG. 2. [Figure 4] It is a schematic cross-sectional view of an actuating member according to a second embodiment of the present invention. [Figure 5] It is a schematic perspective view of an actuating member according to a third embodiment of the present invention.

Mode for Carrying Out the Invention

[0022] FIG. 1 shows a device according to the present invention. In this example, but not by way of limitation, the device includes a base 1, a table 2, and six actuating members 3. The base 1 forms a substantially triangular tripod having three ends connected to each other by a cross member 4. Each end of the base 1 is provided with fastening means 5 for securely connecting the device to a main support (not shown). The base 1 has two openings 6 at each of its ends, each of which is provided with a counterbore (not shown, see below for further reference) that defines a nut housing.

[0023] The base 2 comprises a main body that defines a circular, flat top surface 7. The main body of base 2 is provided with holes 8A that open on the upper surface 7 on one side. On the other side, holes 8B and openings 9, each provided with a counterbore (see below for further details) that defines a nut housing, pass through the main body of base 2.

[0024] In the example shown in Figure 1, each of the operating members 3 has two ends, one of which is received into the respective openings 6 of the base 1, and the other into the respective openings 9 of the base 2. The operating member 3 is configured to change the position of the base 2 relative to the base 1.

[0025] In this example, the apparatus is intended to support a parabolic mirror (not shown) of a spatial optical instrument. The mirror can be positioned on a base 2 using guide pins (not shown) gripped and mounted in hole 8A, and can be secured to the base 2 by screws (not shown) passing through hole 8B. In the context of such applications, the base 1 can be fastened to a portion of the satellite (not shown) that forms the main support described above.

[0026] Now, referring to Figures 2 and 3, we will describe one of the operating members 3 in Figure 1. The following description applies to each of the operating members 3 in Figure 1. Figures 2 and 3 include reference frames D1, D2, and D3 that define the first, second, and third reference directions, respectively.

[0027] Generally, the operating member 3 in Figures 2 and 3 comprises a main body 10, two connecting members 12 and 13, a control mechanism 14, and an initial load spring 15. The main body 10, also called the "bar," extends along a direction D2 called the "operating direction," and in this example comprises two components 22 and 23 that form the lower and upper ends of the main body 10, respectively, as well as two arms that connect the lower end 22 and the upper end 23 to each other.

[0028] Of these arms, the first arm located on the left side in Figures 2 and 3 comprises a central component 20 that forms the part connecting the main body 10 to the control mechanism 14, and two components 25 and 26 that connect the connecting part 20 to the lower end 22 and the upper end 23, respectively.

[0029] Of these arms, the second arm located on the right side in Figures 2 and 3 also comprises a central component 21 that forms the part connecting the main body 10 to the control mechanism 14, and two components 27 and 28 that connect the connecting part 21 to the upper end 23 and the lower end 22, respectively. The connecting parts 20 and 21 each have a roughly parallelepiped shape and can transmit force to other parts of the main body 10 without deformation.

[0030] In this example, the two arms of the main body 10 are symmetrical with respect to the plane D2-D3, and the lower end 22 and upper end 23 of the main body 10 are symmetrical with respect to the plane D1-D3. The connecting parts 20 and 21 of the main body 10 are spaced apart from each other in a first direction D1 called the "control direction". The lower end 22 and upper end 23 of the main body 10 are spaced apart from each other in the operating direction D2. Each component 25 to 28 in this example forms a flexible strip, i.e., a component that is relatively thin in thickness relative to its main dimensions.

[0031] Therefore, referring to Figure 3, the strip 25 extends between the connecting portion 20 and the lower end portion 22 such that it defines a relatively large length X1 relative to the average thickness X2 of the strip 25. Referring to Figure 2, the strip 25 further extends along direction D3 such that it defines a relatively wide width X3 relative to the average thickness X2 of the strip 25. The same applies to strips 26, 27, and 28, which have the same geometric shape as strip 25 in this example.

[0032] In this example, the body 10 of the operating member 3 also comprises two stop components 30 and 31, which extend in the D1 direction between the two arms of the body 10, spaced apart from the strips 25 to 28 so as not to interfere with the deformation of the strips 25 to 28. The stopping component 30 extends to the right side of the inner surface of the lower end portion 22, and the stopping component 31 extends to the right side of the inner surface of the upper end portion 23.

[0033] Each of these stop components 30 and 31 has a free end in the shape of a double fork, defining two inner contact surfaces 32A and 32B and two outer contact surfaces 33A and 33B facing the inner surface of the end 22 or 23. The contact surfaces 32A, 32B, 33A, and 33B of each stop component 30 and 31 are spaced apart from each other in the direction of D1.

[0034] Referring to Figure 3, the connecting portion 20 of the main body 10 includes two tabs 40 and 41 configured to extend in the D1 direction between the contact surfaces 32A and 33A of the stop components 30 and 31. Symmetrically, the connecting portion 21 of the main body 10 also includes two tabs 40 and 41 configured to extend in the D1 direction between the contact surfaces 32B and 33B of the stop components 30 and 31.

[0035] The main body 10 is configured such that when a force is applied to the connecting portions 20 and 21 that brings them closer together in the control direction D1, the strips 25 to 28 deform, causing the ends 22 and 23 to separate in the operating direction D2, that is, increasing the length X4 (see Figure 2) of the main body 10 of the operating member 3. This causes the upper end portion 23 of the main body 10, also called the "effector component," to be displaced relative to the base 2 along the operating direction D2.

[0036] Conversely, if a force is applied to the connecting parts 20 and 21 that separates them in the control direction D1, the strips 25 to 28 deform, bringing the ends 22 and 23 closer to the operating direction D2, that is, reducing the length X4 of the main body 10 of the operating member 3. This causes the effector component 23 of the main body 10 to be displaced relative to the base 1 along the operating direction D2.

[0037] Naturally, the flexibility of the strips 25-28 and the elastic deformability of the body 10 can be due to the diverse geometric shapes of the body 10, particularly the components 25-28. For example, in embodiments not shown, each of the strips 25-28 in Figures 2 and 3 may have one or more grooves or openings, or may be replaced by several strips narrower than the width X3 of the strip in Figure 2, or by elliptical strips.

[0038] In this example, the inner contact surfaces 32A and 32B restrict the displacement of the connecting portions 20 and 21 in the direction of moving them closer to each other in the D1 direction, while the outer contact surfaces 33A and 33B restrict the displacement of the connecting portions 20 and 21 in the direction of moving them further apart in the D1 direction. Therefore, the stopping components 30 and 31 make it possible to limit the deformation of the main body 10 so as not to exceed its elastic limit.

[0039] To fix the adjustment, a stiffening or braking component such as an adhesive can be interposed between the tabs 40 and 41 of the connecting parts 20 and 21 and the surfaces 32A and 32B, or 33A and 33B. This increases the rigidity of the working member 3, for example, during the launch of a rocket mounted on the device. This also makes it possible to support heavier equipment under such conditions.

[0040] More specifically, regarding the connection of the main body 10 to the base 1 and the stand 2, the connecting members 12 and 13 in Figures 2 and 3 each have a shoulder portion 60 that defines their outer surface, and a screw shaft 61 extends from the right side of the outer surface, which is provided to cooperate with a nut 62.

[0041] The shoulder portions 60 of the connecting members 12 and 13 are connected to the lower end 22 and upper end 23 of the main body 10, respectively, by connecting rods 63. The connecting rods 63 are fastened to these portions such that one end extends to the right side of the outer surface of the lower end 22 and upper end 23 of the main body 10, and the other end extends to the right side of the inner surface of the shoulder portion 60 of the connecting members 12 and 13, respectively.

[0042] Each connecting rod 63 of the connecting members 12 and 13 is configured to allow relative displacement of these connecting members 12 and 13 with respect to the main body 10, and each defines a ball joint connection. Therefore, referring to Figures 1 to 3 and the above description, the operating member 3 can be connected to the base 1 via the connecting member 12 and to the base 2 via the connecting member 13.

[0043] For this purpose, the screw shaft 61 of the connecting member 13 is housed in one of the openings 9 of the base 2 such that the outer surface of the shoulder portion 60 is supported on the surface of the base 2, and the connection is secured by a nut 62 engaged with the screw shaft 61 applying a gripping force to a seating surface formed by the counterbore of the opening 9.

[0044] Similarly, the screw shaft 61 of the connecting member 12 is housed in one of the openings 6 of the base 1 such that the outer surface of the shoulder portion 60 is supported on the surface of the base 1, and the connection is secured by a nut 62 engaged with the screw shaft 61 applying a gripping force to a seating surface formed by the counterbore of the opening 6.

[0045] Such connecting members 12 and 13 can reduce tribological problems, especially when the device is placed in a vacuum environment, and thus avoid the need to treat contact surfaces, for example.

[0046] In this example, with respect to the control mechanism 14, the control mechanism is equipped with two adjustment screws 11 and 52, which allow the main body 10 to be deformed at their respective levels of precision. The screw 11 in Figures 2 and 3 is a micrometer screw or differential screw that extends along direction D1 and has a rotation axis A1.

[0047] This screw 11 comprises a first portion having a first male thread (right side in Figure 3) and a second portion having a second male thread with a pitch different from that of the first male thread (left side in Figure 3). The screw 52 forms a sleeve having a female thread on one side that cooperates with the second thread of the screw 11, and a male thread on the other side. Referring to Figure 3, the control mechanism 14 further comprises two collars 50 and 51 and two locking nuts 53 and 54. The collar 51 is attached, for example, by screwing it in or by adhesive, by inserting it into a hole that penetrates the connecting portion 21 of the main body 10 in the direction of D1.

[0048] The collar 51 has a stepped inner opening that penetrates along direction D1 and defines a first portion that forms a female thread cooperating with the first male thread of the screw 11, from right to left in Figure 3 along direction D1, and a second portion that forms a smooth hole having a diameter larger than the diameter of the first portion of the screw 11. Regarding the collar 50, the collar 50 forms a stepped cylindrical portion that defines a first portion and a second portion, extending from right to left in Figure 3 along direction D1.

[0049] The first part of the collar 50 has an inner diameter larger than the diameters of the first and second parts of the screw 11, and an outer diameter slightly smaller than the diameter of the hole formed by the second part of the collar 51.

[0050] The first portion of collar 50 is received in a hole formed by the second portion of collar 51, thereby forming a sliding pivot connection with collar 51, which ensures translational guidance as collars 50 and 51 are displaced from each other along the control direction D1.

[0051] The second part of the collar 50 is fitted into a hole that penetrates the connecting part 20 of the main body 10 in the D1 direction, and has an inner surface that forms an internal thread and has an inner diameter larger than the inner diameter of the first part of the collar 50. The male thread of screw 52 cooperates with the female thread of the second part of collar 50.

[0052] In this example, the pitch of the first male thread of screw 11 and the female thread of the first part of collar 51 is 0.2 mm, the pitch of the second male thread of screw 11 and the female thread of screw 52 is 0.225 mm, and the pitch of the male thread of screw 52 and the female thread of the second part of collar 50 is 0.5 mm. This control mechanism 14 allows for two types of adjustments to be performed depending on the required precision or amount of displacement.

[0053] On the other hand, the screw 11 can be fine-tuned by taking into account the relatively small difference between the pitch of the second male thread and the pitch of the first male thread, which in this example is 0.025 mm.

[0054] For this purpose, while the lock nut 53 is tightened against the collar 50 to prevent the screw 52 from rotating relative to the collar 50, the lock nut 54 is loosened or removed.

[0055] Next, the screw 11 is rotationally driven, and in accordance with the direction of its rotation around axis A1, the connecting parts 20 and 21 of the main body 10 are moved closer together or further apart, thereby increasing or decreasing the dimension X4 of the main body 10 in the operating direction D2, and displacing the base 2 relative to the base 1.

[0056] On the other hand, screw 52 can be made coarser by taking into account the relative difference between the pitch of the male threads of screw 52 and the pitch of the second male threads of screw 11. In this example, the difference is 0.3 mm, which is therefore relatively large compared to the pitch between the first and second male threads of screw 11.

[0057] To perform this second type of adjustment, the locking nut 53 is loosened or removed while the locking nut 54 is tightened against the screw 52 so that the screw 52 and the second part of the screw 11 rotate together.

[0058] Next, the screw 52 is rotationally driven, and in accordance with the direction of its rotation around axis A1, the connecting parts 20 and 21 of the main body 10 are moved closer together or further apart, thereby increasing or decreasing the dimension X4 of the main body 10 in the operating direction D2, and displacing the base 2 relative to the base 1.

[0059] In this way, the control mechanism 14 reliably converts the rotational motion of the screw 11 or screws 11 and 52 around axis A1 into the translational motion of the effector component 23 along the operating direction D2. In this example, the spring 15 is a compression spring interposed between the connecting parts 20 and 21 of the main body 10, and applies a force to the connecting parts 20 and 21 that attempts to separate them in the direction D1. The initial load applied in this manner from spring 15 can reduce or eliminate the play in the screw threads.

[0060] In Figures 2 and 3, the operating member 3 is shown in the nominal position, that is, the position where the main body 10 is in a free state without deformation tension applied by the control mechanism 14.

[0061] In the nominal position, tabs 40 and 41 supported by the connecting portion 20 of the main body 10 are positioned midway between the inner contact surface 32A and the outer contact surface 33A formed by the stop components 30 and 31. Similarly, tabs 40 and 41 supported by the connecting portion 21 of the main body 10 are positioned midway between the inner contact surface 32B and the outer contact surface 33B formed by the stop components 30 and 31 (see Figure 3).

[0062] Therefore, starting from this nominal position, it is possible to displace the adjustment screws 11 and / or 52 in two rotational directions, thereby increasing or decreasing the length X4 of the body 10 in the operating direction D2.

[0063] For example, the main body 10, connecting members 12 and 13 of the operating member 3, and the rod 63 can be made of steel containing nickel, cobalt, and molybdenum, such as the steel known as "MARVAL 18".

[0064] The main body 10 can be machined by electrical discharge machining, while the connecting members 12 and 13, and the rod 63 can be machined by milling. Alternatively, the assembly formed by the main body 10, connecting members 12 and 13, and rod 63 can be manufactured by additive manufacturing.

[0065] Optionally, the above-described assembly can be manufactured by additive manufacturing to form a single identical part together with the base 1 and the base 2. Screw 11 and collar 50 may be made of 316L stainless steel, while screw 52 and collar 51 may be made of beryllium copper alloy, alternating the materials to reduce the coefficient of friction.

[0066] Therefore, referring to Figure 1, the present invention makes it possible to independently change the length of the operating member 3 according to each operating direction without using an adjustment disc. Therefore, it is possible to position the base 2 and its equipment with high precision in three-dimensional space with 6 degrees of freedom.

[0067] In this example, the translational positioning accuracy is estimated to be on the order of microns, with an adjustment range of approximately 0.5 mm, while the rotational positioning accuracy is estimated to be on the order of several thousandths of a degree, with an adjustment range of approximately 0.7°. The present invention also makes it possible to reduce the mass and dimensions of the device and to provide the device with high resistance to mechanical stresses such as vibrations induced by rockets. The above description is not limiting, and numerous variations can be envisioned without exceeding the scope of the present invention.

[0068] For example, Figure 4 shows the actuator 3, which is significantly different from those in Figures 2 and 3 in that it does not have an initial load spring 15. Here, the actuator 3 in Figure 4 is described only in terms of its main differences from those in Figures 2 and 3, and the above description applies similarly to this embodiment.

[0069] Referring to Figure 4, the tabs 40 and 41 of each connecting portion 20 and 21 of the main body 10 are supported by the outer contact surfaces 33A and 33B formed by the stop components 30 and 31 when the main body 10 is in the nominal position. Therefore, the main body 10 can be deformed to displace the effector component 23 in only one direction along the operating direction D2, starting from this nominal position.

[0070] In this example, the initial load is applied by the main body 10 itself, and the main body 10 applies a force to the connecting parts 20 and 21 that attempts to separate them from each other in the D1 direction. Figure 5 shows another embodiment in which the connecting members 12 and 13 are connected to the main body 10 by strips 64 rather than by rods. Such connecting strips 64 allow these connecting members 12 and 13 to be displaced relative to the main body 10 with one degree of freedom, forming a pivotal connection.

[0071] In variations of other embodiments not shown, the body 10 can be connected to the base 1 and / or the stand 2 without rotational freedom. For example, the threaded component 61 of the connecting member 12 described above with reference to Figures 2 and 3 can extend directly, i.e., without a connecting rod or strip, to the right side of the outer surface of the lower end 22 of the body 10.

[0072] In modified examples not shown, the body 10 of the actuator 3 may be without the strips 25 and 28, or the lower end 22, or the connecting member 12, which are present in the different embodiments of Figures 1 to 5. In particular, the connecting portions 20 and 21 of the body 10 may be directly connected to the base 1, for example, by a sliding connection, so that these connecting portions 20 and 21 can be displaced relative to each other along the control direction D1 during adjustment of the position of the effector component 23.

[0073] The control mechanism 14 may be equipped with a single adjustment screw 11, in which case its second part can cooperate directly with the collar 50 by a helical connection.

[0074] Furthermore, the male threads of screw 11 and / or screw 52 can cooperate directly with the female threads formed by the connecting portions 20 and 21 of the main body 10, i.e., without using the collars 50 / 51.

[0075] In another modification not shown, the collar 50 described above may be missing its first portion so as not to cooperate with the collar 51. More generally, the actuator 3 may not include translational guiding means when the connecting portions 20 and 21 are displaced relative to each other along the control direction D1, or it may lack other guiding means.

[0076] In yet another modification not shown, the base 2 in Figure 1 can itself form part of the equipment being positioned. In other words, the actuating member 3 can be directly connected to the equipment.

[0077] The embodiments and modifications thereof described above can be further combined. For example, the connecting members 12 and 13 of the operating member 3 in Figure 4 can be connected to the main body 10 by a connecting strip 64 similar to that shown in Figure 5.

[0078] The apparatus may further comprise a single actuation member 3 according to the present invention, or several actuation members 3 according to the present invention, which may be different from each other. For example, in the context of an application where the device is a plane mirror, the device may comprise a single operating member 3 according to any one of the embodiments described above.

Claims

1. A device for positioning equipment, comprising: a base (2) intended to receive the equipment or to form part of the equipment; and six operating members (3) connected to the base (2), wherein each of the operating members (3) comprises an elastically deformable body (10) and a control mechanism (14) configured to deform the body (10) to change the position of the base (2), The control mechanism (14) is equipped with a micrometer screw (11), and, The apparatus wherein the micrometer screw (11) forms a first adjustment screw, the control mechanism (14) includes a second adjustment screw (52) having a hole that forms a female screw that cooperates with the male screw of the first adjustment screw (11), and the control mechanism (14) is configured to deform the main body (10) under the action of the rotational displacement of the first adjustment screw (11) and / or the second adjustment screw (52).

2. The apparatus according to claim 1, wherein the device is a mirror for a spatial optical instrument.

3. The apparatus according to claim 1, wherein the main body (10) includes an effector component (23) and two arms (20, 26; 21, 27) respectively connected to the effector component (23) so as to be separated from each other according to a control direction (D1), and the control mechanism (14) is configured to apply a mechanical force to the arms (20, 26; 21, 27) that can change the distance separating the arms (20, 26; 21, 27) according to the control direction (D1) in order to displace the effector component (23) according to an operating direction (D2) perpendicular or oblique to the control direction (D1).

4. The apparatus according to claim 3, wherein each arm (20, 26; 21, 27) of the main body (10) comprises a connecting portion (20, 21) connected to the control mechanism (14) and a flexible component that connects the connecting portion (20, 21) to the effector component (23) of the main body (10).

5. The apparatus according to claim 4, wherein the flexible component is a strip (26; 27).

6. The apparatus according to any one of claims 1 to 5, wherein the main body (10) is connected to the base (2) by a connecting member (13), and the connecting member (13) is connected to the main body (10) by a connection that defines at least one degree of freedom.

7. The apparatus according to claim 6, wherein the connecting member (13) is connected to the main body (10) by a rod or strip.

8. A method for positioning equipment using the apparatus described in any one of claims 1 to 5.

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