To provide a parallel linkage mechanism capable of effectively suppressing a transverse vibration occurring in one of a pair of long arms, and a workpiece transfer device using the same.

The parallel linkage mechanism 25 is provided with a base end member 9, the long arm 7b rotatably supported to the base end member 9, an output member 19, which is rotatably supported at the tip of the long arm 7b and arranged in parallel to the base end member 9, the second long arm 7a, which is rotatably supported by the output member 19 and the base end member 9 respectively and extended in parallel with the long arm 7b apart at a prescribed interval, and a vibration control member 20 rotatably supported by the long arm 7b and the second long arm 7a respectively so as to suppress the transverse vibration of the second long arm 7a.