To improve the space efficiency and to make an effective below use of an area immediately below a robot body as an action area by providing a supporting member capable of elevation and rotation around the perpendicular axis on the robot body, and connecting an arm member provided with a working tool in the suspended condition from the supporting member in an oscillating manner.

A pendulum type robot is provided with an arm 5 capable of elevation, rotation around the perpendicular axis, and oscillation around the horizontal axis to a lower part of a robot body 3, and a working tool 6 is provided on the tip of the arm 5. An arm supporting member 4 to support the arm 5 is provided on the body 3, and also provided with a drive mechanism to elevate and rotate the arm supporting member 4 and a Z-axis motor and a R-axis motor as drive sources. A servo motor for driving the arm is fitted to the frame of the arm supporting member 4, and an output shaft of the servo motor is connected to a base end part of the frame to oscillate the arm 5 through a reduction gear, and a tool 6 is provided on the tip part of the arm 5.