To provide a device having a simple constitution and high reliability.

In this device, a pair of upper arms 1 and 2 rotatable at a shoulder end and a pair of lower arms 3 and 4 rotatable at a wrist end are adopted. Elbow ends of each pair are mutually connected by a linking means. The shoulder end is mounted on a support so that the one upper arm 2 may be rotated by a driving means. A holding means for a transferred object is mounted on the wrist end. The linking means includes shafts mounted with the elbow ends thereon and at least two S-bands for connecting the shafts so that one shaft may be rotated in any direction and the other shaft may be rotated in the opposite direction. The elbow end of the one upper arm 1 is fixed to its shaft. The elbow end of the other upper arm 2 is rotatably mounted on its shaft.