A distal end side link hub (3) is coupled to a proximal end side link hub (2) via three or more link mechanisms (4). Each link mechanism (4) has a proximal side end link member (5), a distal side end link member (6), and an intermediate link member (7). The proximal side end link member (5) has a bent portion (30) and rotation shaft mounting portions (31A, 31B). A rotation shaft (12) is mounted to the rotation shaft mounting portion (31A). A bevel gear (54), forming a part of a gear mechanism (52) for transmitting rotary motion of a posture control actuator (50) to the proximal side end link member (5), is mounted on the rotation shaft mounting portion (31A) and disposed in a space (S) between two virtual planes obtained by extending a radially inner edge and a radially outer edge of one end of the bent portion (30) in a longitudinal direction of the rotation shaft mounting portion (31A).
LINK ACTUATING DEVICE