Is rotated in a manner of two ways the joint unit which is pivotally connected to the distal end of the main arm member [PROBLEMS] Scott-Russell mechanism. [SOLUTION] Scott-Russell mechanism type device (1), as well as rotatably connected to the (51) sub-arm member (41) and the main arm member, the joint distal end of the main arm member (41) to (41c) I rotatably connected to the (60) unit. Also, Scott Russell mechanism type device (1), there are provided rotation driving unit (80) to (41) the main arm member is provided with a drive transmission mechanism, and (M4) fourth motor (51) secondary arm member By, and that with a change of the connection angle (41, 51) two arm members, to rotate the interlocked manner the joint unit (60), driven by a fourth motor (M4) joint unit (60) can be switched and be rotated.
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