A feeding device for controlling a posture of a held object (54, 154, 254), the feeding device having: a feed base having a hollow structure, the feed base being horizontally installed; a first driving source and a second driving source disposed at a base end portion of the feed base; a first saddle disposed at a distal end portion of the feed base, the first saddle rotating about a first axis, the first axis going along a vertical direction; a second saddle disposed at the first saddle, the second saddle rotating about a second axis, the second axis going along a horizontal direction; a first propeller shaft disposed along a longitudinal direction of the feed base at an inside of the feed base, the first propeller shaft transmitting a torque from the first driving source; a second propeller shaft disposed along the longitudinal direction of the feed base at the inside of the feed base, the second propeller shaft transmitting a torque from the second driving source; a first transmission device disposed between the first propeller shaft and the first saddle, the first transmission device transmitting a rotation of the first propeller shaft to the first saddle; a second transmission device disposed between the second propeller shaft and the second saddle, the second transmission device transmitting a rotation of the second propeller shaft to the second saddle; and a holding device disposed on the second saddle, the holding device holding the object, wherein the first transmission device includes: a first power conversion mechanism configured to convert a power from the rotation of the first propeller shaft into a rotation about the first axis and transmit the power; a first intermediate shaft coupled to the first power conversion mechanism to rotate; and a first deceleration mechanism configured to decelerate the rotation of the first intermediate shaft, the first deceleration mechanism including a hollow first output shaft (24b2), the first output shaft (24b2) outputting a power transmitted from the first power conversion mechanism via the first intermediate shaft, and the first saddle is coupled to the first output shaft (24b2) to rotate about the first axis. a feed base having a hollow structure, the feed base being horizontally installed; a first driving source and a second driving source disposed at a base end portion of the feed base; a first saddle disposed at a distal end portion of the feed base, the first saddle rotating about a first axis, the first axis going along a vertical direction; a second saddle disposed at the first saddle, the second saddle rotating about a second axis, the second axis going along a horizontal direction; a first propeller shaft disposed along a longitudinal direction of the feed base at an inside of the feed base, the first propeller shaft transmitting a torque from the first driving source; a second propeller shaft disposed along the longitudinal direction of the feed base at the inside of the feed base, the second propeller shaft transmitting a torque from the second driving source; a first transmission device disposed between the first propeller shaft and the first saddle, the first transmission device transmitting a rotation of the first propeller shaft to the first saddle; a second transmission device disposed between the second propeller shaft and the second saddle, the second transmission device transmitting a rotation of the second propeller shaft to the second saddle; and a holding device disposed on the second saddle, the holding device holding the object, wherein the first transmission device includes: a first power conversion mechanism configured to convert a power from the rotation of the first propeller shaft into a rotation about the first axis and transmit the power; a first intermediate shaft coupled to the first power conversion mechanism to rotate; and a first deceleration mechanism configured to decelerate the rotation of the first intermediate shaft, the first deceleration mechanism including a hollow first output shaft (24b2), the first output shaft (24b2) outputting a power transmitted from the first power conversion mechanism via the first intermediate shaft, and a first power conversion mechanism configured to convert a power from the rotation of the first propeller shaft into a rotation about the first axis and transmit the power; a first intermediate shaft coupled to the first power conversion mechanism to rotate; and a first deceleration mechanism configured to decelerate the rotation of the first intermediate shaft, the first deceleration mechanism including a hollow first output shaft (24b2), the first output shaft (24b2) outputting a power transmitted from the first power conversion mechanism via the first intermediate shaft, and the first saddle is coupled to the first output shaft (24b2) to rotate about the first axis.