In the context of collaborative robotics, there is a need for robot wrists that have to meet special requirements whenworking with humans. Due to safety-relevant considerations, collaborating systems often have limitations regarding themaximum possible working speed, which is why tasks in small workspaces can only be carried out to a limited extent. Apromising approach in robot design is therefore the use of another, smaller robot as a hand joint, which compensates forthis disadvantage in specific handling situations. This paper deals with the conception, design and control of a wrist onthe basis of a delta parallel kinematics, which is used on a collaborating robot from Universal Robots. In this first conceptstudy, the difficulties in selecting the required drives, in implementing the control system and in adhering to systemrelatedlimiting parameters such as weight and accuracy become clear.