An output of a motor of a support arm device is reduced. A support arm device includes a first drive unit fixed to a base unit and rotating a first drive shaft, and a second drive fixed to the base unit and rotating a second drive shaft. And an arm part including at least one parallel link and supporting a predetermined jig, and driving the first driving part and the second driving part to change the posture of the arm part, A predetermined rotational motion is performed with respect to the jig. [Selection] Figure 2【課題】支持アーム装置のモータの出力を低減する。【解決手段】支持アーム装置は、ベース部に固定され、第１の駆動軸を軸回転させる第１の駆動部と、ベース部に固定され、第２の駆動軸を軸回転させる第２の駆動部と、少なくとも１つの平行リンクを含み、所定の治具を支持するアーム部と、を備え、第１の駆動部及び第２の駆動部の駆動により、アーム部の姿勢を変化させ、所定の治具に対して所定の回転運動を行う。【選択図】図２
