A parallel link device comprising: a base; a plurality of arms (50a, 50b, 50c) each having at least four degrees of freedom and each including a first arm link, a second arm link, and a rotating joint; and a support which is coupled to an end of the second arm link of each of the plurality of the arms, and a position and a posture of which changes along with changes of posture of the plurality of the arms, wherein an axis of rotation of the rotating joint, which is coupled to the support and the second arm link, intersects or is adjacent to a rotational central point of the support, wherein the first arm link includes: a first link configured to rotate using a first actuator, a second link (77,63) configured to rotate using a second actuator, a third link coupled to the second link through a first rotating joint, a fourth link coupled to the third link through a second rotating joint and coupled to the first link through a third rotating joint, and a first axis of rotation of the first link, a second axis of rotation of the second link, a third axis of rotation of the first rotating joint, a fourth axis of rotation of the second rotating joint, and a fifth axis of rotation of the third rotating joint are disposed to be parallel to each other, and wherein the second arm link includes a fifth link coupled to the fourth link through a fourth rotating joint and coupled to a support rotating joint with three degrees of freedom which is connected to a distal end side of the fifth link. a base; a plurality of arms (50a, 50b, 50c) each having at least four degrees of freedom and each including a first arm link, a second arm link, and a rotating joint; and a support which is coupled to an end of the second arm link of each of the plurality of the arms, and a position and a posture of which changes along with changes of posture of the plurality of the arms, wherein an axis of rotation of the rotating joint, which is coupled to the support and the second arm link, intersects or is adjacent to a rotational central point of the support, wherein the first arm link includes: a first link configured to rotate using a first actuator, a second link (77,63) configured to rotate using a second actuator, a third link coupled to the second link through a first rotating joint, a fourth link coupled to the third link through a second rotating joint and coupled to the first link through a third rotating joint, and a first axis of rotation of the first link, a second axis of rotation of the second link, a third axis of rotation of the first rotating joint, a fourth axis of rotation of the second rotating joint, and a fifth axis of rotation of the third rotating joint are disposed to be parallel to each other, and wherein the second arm link includes a fifth link coupled to the fourth link through a fourth rotating joint and coupled to a support rotating joint with three degrees of freedom which is connected to a distal end side of the fifth link. a first link configured to rotate using a first actuator, a second link (77,63) configured to rotate using a second actuator, a third link coupled to the second link through a first rotating joint, a fourth link coupled to the third link through a second rotating joint and coupled to the first link through a third rotating joint, and a first axis of rotation of the first link, a second axis of rotation of the second link, a third axis of rotation of the first rotating joint, a fourth axis of rotation of the second rotating joint, and a fifth axis of rotation of the third rotating joint are disposed to be parallel to each other, and wherein the second arm link includes a fifth link coupled to the fourth link through a fourth rotating joint and coupled to a support rotating joint with three degrees of freedom which is connected to a distal end side of the fifth link.