The invention relates to an actuator which is characterized in that the
kinematic connection between the motor and the working element of the
robot comprises a mobile link which is pivot fixed to the base of the
actuator, a runner which is mounted to the mobile link and which may
slide radially along the length thereof and a lever arm which is
kinematically connected to the motor and which is hinge-connected to the
runner by means of a pin. In this way, the rotation axes of the mobile
link, the lever arm and the pin are parallel and said mobile link is
kinematically connected to the working element. The distance between the
lines that run alongside the rotation axis of the mobile link and the
rotation axis of the lever arm may be greater or smaller than the length
of the lever arm.
