The invention relates to a joint on a drive, in particular on a manipulator such as a robot or the like, and consists of an input shaft (2) and an output shaft (8) held via a joint (3) which is adjustable in all spatial directions. According to the invention, the joint (3) consists of at least one first inner joint element (130) comprising two diametrically opposed bearings (43) and a second outer joint element (110) comprising two diametrically opposed bearings (42). The bearings (43) of the first inner joint element (130) form a first inner joint axis (30) and lie on a common first inner circle (230); the bearings (42) of the second outer joint element (110) form a second outer joint axis (10) and lie on a common outer circle (210). In order to achieve a sensitive, judder-free rotation of the joint even at large articulation angles, the inner circle (230) can have a smaller diameter (Di) than the outer circle (210).
