Parallel link mechanism, transfer device, and work robot

A parallel link mechanism comprising:

• a base including
• a base main body and
• a plurality of guide members extending from a center portion of the base main body in directions away from the center portion of the base main body toward a periphery of the base main body, the directions being different from each other;
• a plurality of moving bodies which are movable along the plurality of guide members, respectively;
• a fixed link having a base end portion fixed to the center portion of the base main body, the fixed link extending in a direction away from the base;
• a turning body having a center portion connected to a distal end portion of the fixed link, the turning body being turnable around the distal end portion;
• a plurality of movable links having (i) base end portions respectively connected to the plurality of moving bodies and (ii) distal end portions connected to a periphery of the turning body, the plurality of movable links causing the turning body to turn along with movement of the moving bodies;
• a sensor configured to detect inclination of the turning body with respect to a horizontal plane;
• and
• a processor configured to control, on a basis of a result of detection carried out by the sensor, movement of the plurality of moving bodies so that the turning body is inclined with respect to the horizontal plane to a desired degree,
• at least any one of the plurality of guide members being inclined so as to get closer to the turning body as the at least any one of the plurality of guide members gets farther away from the center portion of the base main body.