To provide a flexible coupling with good transmitting efficiency capable of coping with eccentricity and an eccentric angle between axes in a simple structure without using any elastic body.

A first intermediate joint 18 lying between a first rotary member 12 and an intermediate member 16 is separated from a first rotary center 1 against the first rotary member 12, and is installed to be rotatable around a third rotary center 3 parallel to the first intermediate joint 18. The intermediate member 16 is connected to be rotatable around a fourth rotary center 4 orthogonal to the third rotary center 3 against the intermediate joint 18. A second intermediate joint lying between a second rotary member 14 and the intermediate member 16 is separated from a second rotary center 2 against the second rotary member 14, and is installed to be rotatable around a fifth rotary center 5 parallel to the second intermediate joint 20. The intermediate member 16 is orthogonal to the fifth rotary center 5 against the second intermediate joint 20, and is connected to be rotatable around a sixth rotary center 6 orthogonal to the fourth rotary center 4.