An apparatus for automated milking of animals which comprises a milking compartment and a milking robot that is provided with teat cups and a mechanism for connecting the teat cups to the animals being milking in milking compartment. A carrier element for the teat cups is disclosed which is movable in three dimensions while being supported and moved by three sets of controlled piston and cylinder elements, each set of said elements having one end on ends thereof connected to the milking compartment and the other end thereof connected to the carrier element, the connections to the carrier element (as seen in plan) not being aligned. Each set of controlled piston and cylinder elements consists of two controlled piston and elements which are in “V” configurations so that there are three non-aligned connections of each set to the carrier element and six non-aligned connections to the milking compartment.