A parallel kinematics robot (1) comprising a base section (3), an end effector (5) and at least one telescopic shaft (7) arranged between the base section and the end effector. The telescopic shaft comprises an inner shaft (13) and an outer tube (11) arranged externally on the inner shaft. The telescopic shaft comprises at least one set of coupling members, comprising a first coupling member (21; 31; 41) provided internally on the outer tube (11) and a second coupling member (22; 32; 42) provided externally on the inner shaft (13). Said first and second coupling members are configured to transmit torque between the outer tube and the inner shaft, and they are configured for axial sliding engagement with each other. The second coupling member is configured to extend at least partly outside of the outer tube during operation of the telescopic shaft.