Take a look at this video of a QR-2 robot acting as a bartender (or waiter, depending on how you see the role of a bartender) thanks to helpful programming and research by thirsty folks at Carnegie Mellon.
(QR-2 robot bartender shows how it works)
In his 1943 story Q.U.R, sf great Anthony Boucher writes about a usuform robot bartender, a robotic device optimized for the task:
There sat the first original Quinby usuform - no remake of a Robinc model, but a brand-new creation. Quniby said, "Three Planets," and he [the robot] went into action. He had tentacles, and the motions were exactly like Guzub's except that he himself was the shaker. He poured the liquids into his maw, joggled about, and then poured them out of a hollow hoselike tentacle."
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