An
actuator, relating to the technical field of robots. The
actuator comprises: a speed
reducer shell (1), a planetary speed
reducer (2) and an output-end supporting bearing (3), wherein the speed
reducer shell (1) is provided with a connecting
flange (101) and a connecting section (102), which is located on an inner side, the planetary speed reducer (2) is provided with a ring gear
flange (2011) located on an outer side of a ring gear (201), the ring gear
flange (2011) is arranged on one side of the connecting section (102), and the output-end supporting bearing (3) is arranged on the other side of the connecting section (102) and is connected by means of a
fastener; an electric-motor rotor (4) and an electric-motor output shaft (5), the electric-motor rotor (4) being arranged on an outward extension portion of the electric-motor output shaft (5), and the electric-motor output shaft (5) being fixedly connected to an input end of the planetary speed reducer (2); and an electric-motor housing (6) and an electric-motor
stator (7), wherein the electric-motor housing (6) is provided with a connecting end (601), the electric-motor
stator (7) is arranged in the electric-motor housing (6), and the connecting end (601) is fixedly connected to the connecting flange (101).