PROBLEM TO BE SOLVED: To provide a parallel-spring 2-freedom rotation mechanism with light, small in number of components, simple in structure, operated at two freedoms, excellent in disinfecting and sterilizing disinfection, and not applying an excessive load on an object.SOLUTION: A manipulator 100 is provided with: a unit body provided with a gripper； a first link 25 that is supported so as to move back and forth in a longitudinal direction with respect to the unit body； a first leaf spring 27 that is connected to the tip of the first link 25 with a revolute pair by a first base end pin 47； a second link 29 that is supported so as to move back and forth in the longitudinal direction with respect to the unit body in parallel with the first link 25； a second leaf spring 31 that is connected to the tip of the second link 29 with a revolute pair by a second base end pin 49 in the same direction as that of the first base end pin 47； and a rotary disk 63 that is connected at the tip of the first leaf spring 27 with a revolute pair by a first tip pin 65 in the same direction as that of the first base end pin 47 and at the tip of the second leaf spring 31 with a revolute pair by a second tip pin 67 in the same direction as that of the second base end pin 49.SELECTED DRAWING: Figure 2【課題】軽量であり、少ない部品数、簡単な構造、且つ低コストにより２自由度で作動させることができ、滅菌消毒性に優れ、対象に過度の負荷を与えない。【解決手段】マニピュレータ１００において、把持部を備えたユニット本体部と、ユニット本体部に対して長手方向に進退自在に支持される第１リンク２５と、第１リンク２５の先端に第１基端ピン４７により回転対偶で接続される第１板ばね２７と、第１リンク２５に並列してユニット本体部に対して長手方向に進退自在に支持される第２リンク２９と、第２リンク２９の先端に第１基端ピン４７と同方向の第２基端ピン４９により回転対偶で接続される第２板ばね３１と、第１板ばね２７の先端が第１基端ピン４７と同方向の第１先端ピン６５により回転対偶で接続され、第２板ばね３１の先端が第２基端ピン４９と同方向の第２先端ピン６７により回転対偶で接続される回転ディスク６３と、を設けた。【選択図】図２
