Arrangement for limiting rotation, and robot

A robot comprising an arrangement for limiting rotation, including:

• a base structure;
• a drive member rotatable relative to the base structure about a drive axis, the drive member having a drive feature offset from the drive axis;
• a stopping member having at least one driven feature, wherein the stopping member is arranged to be intermittently driven relative to the base structure between a plurality of discrete positions by a continuous rotation of the drive member and by cooperation between the drive feature and the at least one driven feature, wherein the stopping member in a first end discrete position is arranged to limit rotation of the drive member in a first end position of a rotation range of the drive member, and in a second end discrete position is arranged to limit rotation of the drive member in a second end position of the rotation range;
• and
• a holding mechanism arranged to hold the stopping member in each discrete position, the holding mechanism being at least partly provided in the base structure.