A suspension system includes a base frame, a carrier frame and a linkage mounted on the base frame and supporting the carrier frame. The linkage includes a first arm pivotally coupled to the frames and a second arm pivotally coupled to the frames and pivotally coupled to the second arm about a linkage pivot axis. A rotary motor has a housing and a shaft which rotates with respect to the housing. The shaft is aligned with the linkage pivot axis. The housing is non-rotatably coupled to the first arm. The shaft is coupled to a transmission which is coupled to the second arm.