Abstract: The paper presents the design of a robotic wrist for biomedical applications, carried out at the Department of Electrical, Management and Mechanical Engineering of the University of Udine. First, the intended use of the wrist, namely the insertion of peduncular screws into the vertebrae, together with the supporting structure (a cartesian robot) are described. Then, the design requirements for the wrist, especially with respect to the mechanical side, are set and discussed. The most important requirements that had to be taken into account were those regarding: accuracy, dimensions, velocity, and maximum payload. All the steps up to the final design of the wrist are described and discussed, with also the useful aid of a representation of the wrist in a CAD environment.