To provide an articulated robot having no interference between a robot arm and a link that forms a wiring-piping passage while preventing rubbing of wiring and piping.

This robot is provided with a base 2; a first arm 3 journaled to the base 2; a second arm 4 journaled to the distal end of the first arm 3 and rotationally driven through a connecting means built in the first arm 3; a first auxiliary link 5 journaled to the base 2; a second auxiliary link 6 journaled to the first auxiliary link 5 and the first arm 3; a third auxiliary link 7 journaled to the first auxiliary link 5; and a fourth auxiliary link 8 journaled to the third auxiliary link 7 and the second arm 4. The robot is constituted so that the wiring and piping pass from the base 2 to the first auxiliary link 5, the third auxiliary link 7 and the fourth auxiliary link 8.