An articulated manipulator comprising: a plurality of links (c1-c6) arranged in series; and joints (d1-d6) pivotally connecting the adjacent links; wherein the joints (d1-d6) include coaxial joints (d1; d5) each connecting two adjacent links (c1; c4, c5) so that the two adjacent links (c1; c4, c5) are able to turn about a rotation axis (L1; L5) coaxial with the axes of the two adjacent links (c1; c4, c5), and diagonal joints (d2; d3; d4; d6) each connecting two adjacent links (c1, c2; c2, c3; c3, c4; c5, c6) so that the two adjacent links (c1, c2; c2, c3; c3, c4; c5, c6) are able to turn about an inclined rotation axis (L2; L3; L4; L6) inclined at an angle of 45° to the axes (L1, L2; L2, L3; L3, L4; L5, L6) of the two adjacent links (c1, c2; c2, c3; c3, c4; c5, c6), at least one specific link among those links (c1-c6) has opposite ends connected by the diagonal joints (d3, d4) to the adjacent links (c2, c4), and two rotation axes (L3, L4) about which the adjacent links (c2, c4) are turned, respectively, relative to the specific link are perpendicular to each other, wherein the links (c1-c6) are first to sixth links, wherein the first link is connected to a base for rotation about a rotation axis aligned with the axis of the first link, wherein the first and the second link (c1; c2) are connected by a diagonal joint, wherein the second and the third link (c2; c3) are connected by a diagonal joint so as to be turnable about a rotation axis parallel to the rotation axis about which the first and the second link (c1; c2) are turned, wherein the third and the fourth link (c3; c4) are connected by a diagonal joint so as to be turnable about a rotation axis perpendicular to the rotation axis about which the second and the third link (c2; c3) are turned, wherein the fourth and the fifth link (c4; c5) are connected by a coaxial joint, and wherein the fifth and the sixth link (c5; c6) are connected by a diagonal joint, wherein the sixth link is provided with a twist unit for connecting a predetermined terminal device to the sixth link so as to be rotatable about a rotation axis aligned with the axis of the sixth link, and wherein the rotation axis of the fourth link and the fifth link, the rotation axis of the fifth link and the sixth link and the rotation axis of the sixth link and the twist unit are intersected at one point. a plurality of links (c1-c6) arranged in series; and joints (d1-d6) pivotally connecting the adjacent links; wherein the joints (d1-d6) include coaxial joints (d1; d5) each connecting two adjacent links (c1; c4, c5) so that the two adjacent links (c1; c4, c5) are able to turn about a rotation axis (L1; L5) coaxial with the axes of the two adjacent links (c1; c4, c5), and diagonal joints (d2; d3; d4; d6) each connecting two adjacent links (c1, c2; c2, c3; c3, c4; c5, c6) so that the two adjacent links (c1, c2; c2, c3; c3, c4; c5, c6) are able to turn about an inclined rotation axis (L2; L3; L4; L6) inclined at an angle of 45° to the axes (L1, L2; L2, L3; L3, L4; L5, L6) of the two adjacent links (c1, c2; c2, c3; c3, c4; c5, c6), at least one specific link among those links (c1-c6) has opposite ends connected by the diagonal joints (d3, d4) to the adjacent links (c2, c4), and two rotation axes (L3, L4) about which the adjacent links (c2, c4) are turned, respectively, relative to the specific link are perpendicular to each other, wherein the links (c1-c6) are first to sixth links, wherein the first link is connected to a base for rotation about a rotation axis aligned with the axis of the first link, wherein the first and the second link (c1; c2) are connected by a diagonal joint, wherein the second and the third link (c2; c3) are connected by a diagonal joint so as to be turnable about a rotation axis parallel to the rotation axis about which the first and the second link (c1; c2) are turned, wherein the third and the fourth link (c3; c4) are connected by a diagonal joint so as to be turnable about a rotation axis perpendicular to the rotation axis about which the second and the third link (c2; c3) are turned, wherein the fourth and the fifth link (c4; c5) are connected by a coaxial joint, and wherein the fifth and the sixth link (c5; c6) are connected by a diagonal joint, wherein the sixth link is provided with a twist unit for connecting a predetermined terminal device to the sixth link so as to be rotatable about a rotation axis aligned with the axis of the sixth link, and wherein the rotation axis of the fourth link and the fifth link, the rotation axis of the fifth link and the sixth link and the rotation axis of the sixth link and the twist unit are intersected at one point.