PROBLEM TO BE SOLVED: To obtain the stable action performance of a double-joint.SOLUTION: A manipulator is equipped with a joint mechanism 4 for coupling a slender body portion 2 and an end effector 3. The joint mechanism 4 is equipped with two link members 61 and 62； a first joint 11 coupling the end effector 3 and the link member 61 so as to rock around a first shaft A1； a second joint 12 coupling the two link members 61 and 62 so as to rock around a second shaft A2； a third joint 13 coupling the link member 62 and the body portion 2 so as to rock about a third shaft A3 parallel with the second shaft A2； and a pair of restraining members 71 and 72 extending from the link member 61 to the body portion 2 across the second and third joints 12 and 13, and having fixed length dimensions. The restraining members 71 and 72 making the pair are disposed in an X-shape by respectively clipping the second and third shafts A2 and A3 in a diametrical direction, and intersecting with each other only one time between the second and third joints 12 and 13.【課題】ダブルジョイントの安定した動作性能を得る。【解決手段】細長い胴部２とエンドエフェクタ３とを連結する関節機構４を備え、関節機構４が、２つのリンク部材６１，６２と、エンドエフェクタ３とリンク部材６１とを第１の軸Ａ１回りに揺動可能に連結する第１の関節１１と、２つのリンク部材６１，６２同士を第２の軸Ａ２回りに揺動可能に連結する第２の関節１２と、リンク部材６２と胴部２とを第２の軸Ａ２に平行な第３の軸Ａ３回りに揺動可能に連結する第３の関節１３と、第２及び第３の関節１２，１３を跨いでリンク部材６１から胴部２まで延び、一定の長さ寸法を有する一対の拘束部材７１，７２とを備え、一対の拘束部材７１，７２が、第２及び第３の軸Ａ２，Ａ３をそれぞれ径方向に挟み、かつ、第２及び第３の関節１２，１３の間で互いに１回だけ交差することによってたすき掛け状に配置されているマニピュレータを提供する。【選択図】図３
