A redundant positioning table device with six or fewer degrees of freedom having four modular legs extended from a base to a table, each legs being with three levels and the same types of joints. In one embodiment, the bottom joint is planar and active, the middle joint is prismatic and passive, and the top joint is spherical and passive. In another embodiment, the bottom joint is prismatic and passive, the middle joint is planar and active, and the top joint is spherical and passive. Fewer than six degrees of freedom is achieved by reducing the number of degrees of freedom of designated joints.