Device (1,101, 201, 301) for milking an animal, such as a cow, comprising an animal standing area (O) to be occupied by the animal to be milked in a particular milking position and a robot device (10, 110, 210, 310) with a robot arm assembly (20, 120, 220, 320) for applying to and/or removing teat cups (22, 122, 222, 322) from the respective udders of the animal, wherein the robot arm assembly at a distal end is provided with holding means (21, 121, 221, 321) for the teat cups, wherein the robot arm assembly at a proximal end is suspended from a support (9, 109, 209, 309) so as to extend downwards therefrom and is rotatable with respect thereto about a first centre line (
