A robot is provided which comprises (a) a hub (311) disposed on a substrate (306); (b) a first motor (305) which operates a first arm by moving a first magnet (305) disposed within said hub; (c) a first housing element (331) for housing said first motor; (d) a first plate (321) disposed within said hub and attached to a first end of said housing element; and (e) a second plate (341) attached to a second end of said first housing element such that said substrate extends between said second plate and said hub.