Provided is a manipulator (1) equipped with a joint mechanism (4) that couples an end effector (3) with a body portion (2) via two linkage members (61 and 62), wherein the joint mechanism (4) is provided with: a first joint (11) that couples the end effector (3) with the linkage member (61) in a mutually pivotable manner； a second joint (12) that couples the linkage members (61 and 62) with each other so as to be pivotable about a second axis (A2)； a third joint (13) that couples the linkage member (62) with the body portion (2) so as to be pivotable about a third axis (A3) that is parallel to the axis (A2)； and a pair of restraining members (71 and 72) that have constant lengths, that flank the second and third axes (A2 and A3) in the radial direction, and that are disposed in a crossed manner so as to intersect each other just once between the second and third joints (12 and 13).
