Drive mechanism

A drive mechanism comprising at least one articulated module comprising four links,

• wherein each link comprises three coupling points Ai, Bi, Ci, wherein i, with i=1, . . . , 4, denotes the first, second, third and fourth link, respectively;
• wherein in each link the three coupling points are distributed forming a triangular geometry,
• wherein a side Ai-Ci is defined by the coupling points Ai and Ci;
• wherein a side Bi-Ci is defined by the coupling points Bi and Ci;
• and
• wherein a side Ai-Bi is defined by the coupling points Ai and Bi;
• wherein a length of the side B1-C1 of the first link is equal to a length of the side B4-C4 of the fourth link;
• wherein a length of the side A2-B2 of the second link is equal to a length of the side A3-B3 of the third link, and
• wherein the links are coupled to each other according to a relationship wherein:
• the coupling point C1 of the first link is coupled to the coupling point A3 of the third link by means of a pivot joint;
• the coupling point B1 of the first link is coupled to the coupling point B2 of the second link by a pivot joint;
• the coupling point A2 of the second link is coupled to the coupling point C4 of the fourth link by a pivot joint;
• and
• the coupling point B3 of the third link is coupled to coupling point B4 of the fourth link by a pivot joint.