“…This results in a "forced" drive balancing from the transmission, which makes the operation of the assembly to be correct but rigid and with mechanical shocks. Such balancing is not possible when the actuators directly actuate the elements of the kinematic chain without using mechanical reducers PETRESCU, 1985;1989;ANTONESCU et al, 1985a;1985b;1986;1987;1988;1994;1997;2001;ATEFI et al, 2008;Avaei et al, 2008;AVERSA et al, 2017a;2016d;2016e;2016f;2016g;2016h;2016i;2016j;2016k;2016l;2016m;2016n;2016o;AZAGA;OTHMAN, 2008;CAO et al, 2013;DONG et al, 2013;EL-TOUS, 2008;COMANESCU, 2010;FRANKLIN, 1930;HE et al, 2013;JOLGAF et al, 2008;KANNAPPAN et al, 2008;LEE, 2013;LIN et al, 2013;LIU et al, 2013;MIRSAYAR et al, 2017;NG et al, 2008;PADULA;PERDEREAU;PANNIRSELVAM, 2008;2013;…”