A manipulator, in particular a small robot, has at least two motor mutually movable limbs with a motion axis of both limbs being acted on by an axle drive that has an external rotor motor, a position transmitter and a transmission. The transmission has at least one planetary gear set with a center gear and at least one planet meshing with it that also meshes with a ring gear and is mounted on a planet carrier. One of both limbs of the manipulators is torque proof connected with the ring gear and is mounted by this radial and/or axially, and the other is torque proof connected by both limbs of the manipulator with the planet carrier and is mounted by this radial and/or axially.