To provide articulated arms suitable for use as robot arms and for workpiece conveyance, moving in parallel.

This articulated arm 100 includes a first arm 101 connected with a base 10 through a first link 110, a second arm 102 connected with the first arm 101 through an intermediate link 130, and an end effector 200 connected with the second arm 102 through a second link 120. The first link 110 includes a first driving gear 111 moving in synchronization with the first arm 101 and a first transmission gear 112 moving in synchronization with the base 10. The intermediate link 130 includes an intermediate driving gear 131 moving in synchronization with the second arm 102 and connected with the first transmission gear 112 through a timing belt 139 and an intermediate transmission gear 132 moving in synchronization with the first arm 101. The second link 120 includes a second driving gear 121 moving in synchronization with the intermediate transmission gear 132 and connected with the intermediate transmission gear 132 through a timing belt 129.