An articulated arm robot-type device for handling a payload, comprising a robot arm - which is mounted on a base that is rotatable about a first axis, - at least two arm elements (2, 3) that are arranged behind one another in the form of a kinematic chain, wherein a first arm element is mounted on the base pivotally about a second axis that is oriented orthogonal to the first axis and a second arm element is attached to the first arm element pivotally about a third axis that is oriented parallel to the second axis, as well as - a central hand attached to the end of the kinematic chain, wherein a first linear actuator is provided for pivoting the first arm element about the second axis and on the one hand functionally connected to the base by means of a first coupling gear and on the other hand functionally connected to the first arm element, and wherein a second linear actuator is provided for pivoting the second arm element about the third axis and functionally connected to the base, the first arm element and the second arm element by means of a second coupling gear, with the first and the second linear actuator (4, 5) respectively being realized in the form of spindle drives, which respectively feature a motor-driven spindle nut unit (41, 51) that is engaged with a spindle (42, 52) in the form of a threaded rod, and with the respective spindle being mounted pivotally about a pivoting axis (SA4, SA5) that is oriented parallel to the second axis, characterized in that the first coupling gear is pivotally and functionally connected to the motor-driven spindle nut unit of the first linear actuator by means of a first universal joint and the second coupling gear is pivotally and functionally connected to the motor-driven spindle nut of the second linear actuator by means of a second universal joint, in that the first and the second universal joint (4K, 5K) respectively have a pivoting axis that is oriented parallel to the second axis, as well as a pivoting axis that is oriented orthogonal to the second axis, in that the second coupling gear features a first coupling means and a second coupling means that respectively transmit tensile and compressive forces, in that the first coupling means consists of a ternary gear element in the form of a rigid triangular structure, on the corners of which the first coupling means is respectively mounted pivotally about a pivoting axis such that the coupling means is connected to the spindle nut unit pivotally about a first pivoting axis corresponding to a pivoting axis of the second universal joint, connected to the first arm element pivotally about a second pivoting axis and connected to the second coupling means pivotally about a third pivoting axis, and in that the second coupling means is realized in the form of a rigid connecting brace, one connecting brace end of which is connected to the first coupling means pivotally about the third pivoting axis and the other connecting brace end of which is connected to the second arm element pivotally about a pivoting axis. - which is mounted on a base that is rotatable about a first axis, - at least two arm elements (2, 3) that are arranged behind one another in the form of a kinematic chain, wherein a first arm element is mounted on the base pivotally about a second axis that is oriented orthogonal to the first axis and a second arm element is attached to the first arm element pivotally about a third axis that is oriented parallel to the second axis, as well as - a central hand attached to the end of the kinematic chain,