Provided is a manipulator equipped with a joint mechanism that couples an end effector with a body portion via two linkage members, wherein the joint mechanism is provided with: a first joint that couples the end effector with the linkage member in a mutually pivotable manner； a second joint that couples the linkage members with each other so as to be pivotable about a second axis； a third joint that couples the linkage member with the body portion so as to be pivotable about a third axis that is parallel to the axis； and a pair of restraining members that have constant lengths, that flank the second and third axes 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.
