The thesis project falls within the field of collaborative robotics and aims to automate the wine sampling process through the use of a mobile robot. The project can be divided into three main areas: the mobile platform, the robotic arm, and the end effector. This work focuses on the design of a four-degree-of-freedom robotic arm that allows the end effector to reach the necessary positions to complete the wine extraction from the barrels. After a brief review of existing technologies in the field of robotic arms, the study begins with the dimensioning of an arm featuring a double-parallelogram mechanism, defining the relevant component lengths and establishing an operational space to be satisfied.