An actuating device comprising: a base link (108, 108b, 108c) comprising a base plate (116, 116b), a first joint, and a second joint, wherein the base plate (116, 116b) extends between the first joint and the second joint; a first link (110, 110b, 110c) mounted to the first joint to allow rotation of the first link (110, 110b, 110c) relative to the base plate (116, 116b) at the first joint; a second link (114, 114b, 114c) mounted to the second joint to allow rotation of the second link (114, 114b, 114c) relative to the base plate (116, 116b) at the second joint; a translating link (112, 112b, 112c) comprising a translating plate (122, 122b), a third joint, and a fourth joint, wherein the translating plate (122, 122b) extends between the third joint and the fourth joint, further wherein the first link (110, 110b, 110c) is mounted to the third joint to allow rotation of the first link (110, 110b, 110c) relative to the translating plate (122, 122b) at the third joint, and further wherein the second link (114, 114b, 114c) is mounted to the fourth joint to allow rotation of the second link (114, 114b, 114c) relative to the translating plate (122, 122b) at the fourth joint; a shaft configured to mount to an actuator such that the actuator causes rotation of the shaft, wherein, when operating the actuating device, a position of the shaft is fixed relative to the base plate (116, 116b); and a drive (128, 128b, 128c, 128d) comprising an arc surface, wherein the drive (128, 128b, 128c, 128d) is mounted to the translating link (112, 112b, 112c) such that, when operating the actuating device, a position of the arc surface is fixed relative to the translating plate (122, 122b), and further wherein the shaft is mounted to the arc surface to cause translation of the translating link (112, 112b, 112c) as the shaft rotates. a base link (108, 108b, 108c) comprising a base plate (116, 116b), a first joint, and a second joint, wherein the base plate (116, 116b) extends between the first joint and the second joint; a first link (110, 110b, 110c) mounted to the first joint to allow rotation of the first link (110, 110b, 110c) relative to the base plate (116, 116b) at the first joint; a second link (114, 114b, 114c) mounted to the second joint to allow rotation of the second link (114, 114b, 114c) relative to the base plate (116, 116b) at the second joint; a translating link (112, 112b, 112c) comprising a translating plate (122, 122b), a third joint, and a fourth joint, wherein the translating plate (122, 122b) extends between the third joint and the fourth joint, further wherein the first link (110, 110b, 110c) is mounted to the third joint to allow rotation of the first link (110, 110b, 110c) relative to the translating plate (122, 122b) at the third joint, and further wherein the second link (114, 114b, 114c) is mounted to the fourth joint to allow rotation of the second link (114, 114b, 114c) relative to the translating plate (122, 122b) at the fourth joint; a shaft configured to mount to an actuator such that the actuator causes rotation of the shaft, wherein, when operating the actuating device, a position of the shaft is fixed relative to the base plate (116, 116b); and a drive (128, 128b, 128c, 128d) comprising an arc surface, wherein the drive (128, 128b, 128c, 128d) is mounted to the translating link (112, 112b, 112c) such that, when operating the actuating device, a position of the arc surface is fixed relative to the translating plate (122, 122b), and further wherein the shaft is mounted to the arc surface to cause translation of the translating link (112, 112b, 112c) as the shaft rotates.