so that a degree of freedom of f 4 can be realized a traditional drive not shown makes it possible to rotate the column 16 a first drive system 17 designed as taught by the invention is located at the base of the robot arm and includes a motor driven first driving roller 01 a see fig1 4 for placement a pivoted first driven roller 03 a and an antagonistically operating first rope like traction means 05 a into each force transmission section of which spring couplings 07 a are inserted the first driven roller 03 a supports a first swiveling arm 25 with articulated joints which performs a swiveling motion when driven by the first transmission mechanism 17 the first swiveling arm 25 supports a second transmission mechanism 27 designed as taught by the invention with a second driving roller 01 b a second driven roller 03 b a second traction rope 05 b and second spring couplings 07 b which are inserted therein the second driving roller 01 b is supported on a carrier plate 28 the second driven roller 03 b forms a third joint on which a second swiveling arm 37 is pivotally supported the carrier plate 28 moreover supports a third driving roller 01 c which belongs to a third transmission mechanism 35 as taught by the invention the third driving roller 01 c drives a deflection roll 31 via a traditional traction rope 36 said deflection roll being arranged on the pivot bearing of the second swiveling arm 37 starting from the deflection roll 31 a third antagonistically operating rope like traction means 05 c with inserted third spring couplings 07 c runs up to a third driven roller 03 c the second swiveling arm 37 has the third driven roller 03 c on.