Device for milking an animal, such as a cow, comprising an animalstanding area to be occupied by the animal to be milked in a particularmilkingposition and a robot device with a robot arm assembly for applying to and/orremoving teat cups from the respective teats of the udder of the animal,whereinthe robot arm assembly at a distal end is provided with holding means for theteatcups, wherein the robot arm assembly at a proximal end is suspended from asupport so as to extend downwards therefrom and is rotatable with respectthereto about a first centre line which has a vertical direction component,wherein,in use, the first centre line intersects the floor of the animal standingarea.
