A parallel link mechanism includes a first arm, a second arm, a first auxiliary link, a second auxiliary link, and a drive motor. A cylindrical connection shaft having a first rotational axis is provided near the proximal portion of the first arm. The proximal portion of the first arm is rotatably connected to a fixed base through the connection shaft. The distal portion of the second arm is rotatably connected to a movable base. The proximal portion of the second arm is rotatably connected to the distal portion of the first arm through a connecting portion connected to a transmission mechanism. The first auxiliary link forms a first parallel link together with the first arm, the connecting portion, and the fixed base. The second auxiliary link forms a second parallel link together with the second arm, the connecting portion, and the movable base. The drive motor drives the transmission mechanism to pivot the first arm and the second arm. The drive motor includes a motor shaft having a second rotational axis. The drive motor is fixed to either the first arm or the connection shaft with the second rotational axis being offset from the first rotational axis in a radial direction of the connection shaft in such a manner that, when the first arm rotates about the first rotational axis, the drive motor is allowed to rotate about the first rotational axis together with the first arm.