To provide a light and compact link actuation device eliminating the need of performing extra working for the absorption of displacement on an inserted article which is inserted inside and arranged, and the need of providing a large displacement absorbing member.

A link actuation device 1 has link hubs 2 and 3 arranged on the input/output sides, respectively, and a plurality of sets of link mechanisms 4A and 4B. The link mechanisms 4A and 4B are three-joint chain link mechanisms comprising four revolute pairs. End links 5 and 6 are connected in a rotatable manner to the link hubs 2 and 3, and the input-side and output-side end links 5 and 6 are connected in a rotatable manner to a central link 7. The revolute pair axes O1A, O1B, O2A, and O2B of the link hubs 2 and 3 and the end links 5 and 6 are inclined toward the opposing link hubs 3 and 2. Spherical link centers P1 and P2 are located between a posture change center O and the link hub surfaces F1 and F2.