The present invention includes: a robot main body driving mechanism (51) including a wrist joint driving portion (38)； and a robot main body (2) including a base (23) detachably fixed to the robot main body driving mechanism, an arm (21) including a hollow shaft (25) and a wrist joint (30), the shaft (25) including a proximal end (25a) continuous with the base, the wrist joint (30) being continuous with a distal end (25b) of the shaft, the wrist joint rotating around an axis of a distal end of the arm, an end effector (22) attached to the wrist joint, and a wrist joint driving force transmission portion (48) including a hollow torque transmission tube (44), the torque transmission tube being inserted through the shaft and including a distal end (44b) attached to the wrist joint, wherein: by attaching the base to the robot main body driving mechanism, the wrist joint driving portion is connected to a proximal end (44a) of the torque transmission tube to rotate the torque transmission tube around an axis (LI) of the torque transmission tube； and by detaching the base from the robot main body driving mechanism, the wrist joint driving portion is separated from the torque transmission tube.
