To provide an oscillating mechanism for links, capable of enhancing both the moving accuracy and the moving speed by using two actuators, and reducing cost without requiring so high processing accuracy and mounting accuracy.

An oscillating mechanism for links is provided with an oscillating link 2, a cam body 3 for abutting on a specified portion of the oscillating link to oscillate the oscillating link, a turning arm 5, and a first gear 7 and a second gear 8 capable of holding the cam body 3 in a state where two, separately changeable degrees of freedom, namely of angle of rotation around a center shaft 10 of rotation, and translating position exist, and of separately changing the two degrees of freedom by fixing and driving the cam body 3 when it is stopped, and a first actuator 4 and a second actuator 6 for driving the turning arm 5 and the first gear 7 respectively.