The present invention relates to a gripper (2), robot arm (4) and milking machine provided therewith, and method for arranging teat cups (6, 8) in automatic manner on teats of an udder of an animal for milking. The gripper according to the invention comprises: —a fixation part (10, 12) for holding at least one teat cup and—transport means (14, 16) for positioning the teat cup in the gripper relative to the at least one fixation part.
