A supporting structure for positioning manipulating arms that may be fitted with tools. The manipulating arms are unblocked for their relocation and/or for relocation of tools or parts held by the manipulating arms. Relocation of the manipulating arms into a new position is by means of a robot. Once relocated, the manipulating arms are again blocked. A supporting frame is fitted with at least one sliding guide and/or spherical joint in which each manipulating arm is movably disposed. Blocking and unblocking of the manipulating arms is achieved through the use of pneumatic or electrical power.