To obtain a transfer device which can transfer a work for a long distance, can transfer on the rectilinear distance between two points at a high speed and at a high accuracy, and furthermore, can transfer without converting the direction of the work.

In this transfer device 1A, three sets of parallel links (the first link 31 and 32, the second link 33 and 34, and the third link 35 and 36) are combined in the horizontal condition, by the first expansion angle transmitting device 40 and the second expansion angle transmitting device 60, so as to form an expansion arm 30, the expansion arm 30 is connected to a servomotor 22 at the lower surface of a base 21, and the expansion arm 30 is extended and contracted by controlling it. And the system is composed that a work W at the position A is held and conveyed, and can be transferred to the position B or C.