This paper presents a novel method for surface micro-machining of pin-jointed actuators using only two active polySi layers. An alternative sacrificial layer deposition and etching sequence is proposed in order to achieve the linkage construction. The implementation of a four-level profile in the first sacrificial layer is a key factor to significantly reduce topography issues when depositing subsequent layers. Adding to this are some design considerations to further smooth the surface topography irregularities so that a reasonable clearance between the first and second mechanically active layers is obtained. As a result, the need of a planarization process step is foreseen to be avoided. The main advantages of the proposed construction technology are process simplification and standardization conditions in key deposit steps.