A device for milking an animal, such as a cow, includes an animal standing area to be occupied by the animal to be milked in a particular milking position and a robot device with a robot arm assembly for applying to and/or removing teat cups from the respective teats of the udder of the animal. The robot arm assembly has a holder for teat cups at a distal end. At a proximal end, the robot arm assembly is suspended from a support so as to extend downwards therefrom and is rotatable with respect thereto about a first center line which has a vertical direction component, wherein, in use, the first center line intersects the floor of the animal standing area.