This ball joint can be applied in the robotics for applications with low or moderate load. Target of the development was to use as little parts as possible and to reach a large adjustment angle and self-centering. The developed joint consists only of an upper and lower plastic disc spring from igus®, a ball with pin and a housing with adjusting ring. The ball rests free of play between the two disc springs. As a result, the spring tension can be adjusted depending on the load.