To solve a problem wherein the control of an inferior driving manipulator is difficult and has few example of the practical application though various kinds of study is performed in expectation of the light weight and low cost, make advantage of the inferior driving manipulator and facilitate the control.

A first link is fixed to a planetary gear carrier of a planetary gear unit, a second link is fixed to the ring gear, and a pantograph is composed by adding a third link and a fourth link to them. An actuator is provided on a sun gear rotary shaft. It is confirmed that a hand part can be moved in an arbitrary circle trajectory or a diameter trajectory having an arbitrary angle with a simple proportional control, though it is the inferior driving manipulator by this constitution.

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