disclosed herein are embodiments of an articulated robot wrist . one embodiment comprises a first body comprising first and second ends , the first end being for mounting on a robot component which is rotatable around a first axis ; a second body comprising first and second ends , the first end being rotatably mounted on said second end of said first body around a second axis inclined with respect to said first axis ; and a third body comprising a first and a second end , the first end being rotatably mounted on said second end of said second body around a third axis inclined with respect to said second axis . the first and third axes form an angle substantially of 90 ° with respect to said second axis , and wherein in at least one position of said robot wrist said first and third axes are substantially aligned with each other .