A joint bearing for a robot 1 which comprises a shaft 21 and at least one link element 24, 35, 36, 37, 38, 59, 60 mounted to be rotatable on shaft 21 between two axial bearings 22, 23, 43, 44, 45, 46, 54, 55, 63, 64, 69, where a resiliently compressible preloading element 33, 49, 52, 53, 56, 57, 65, 66 is provided which applies an axial preloading force to the axial bearings. A robot with at least one such joint bearing as well as a method for assembling a joint bearing for a robot are disclosed herein.