An articulated robot provided with a plurality of arms adapted to turn in a horizontal plane, which comprises a stationary base (1); a turning head (3) provided on the stationary base (1) to turn about a vertical axis; a parallelogram link mechanism consisting of a first arm (5) fixed to the turning head (3), an auxiliary link (7) and a link (9); a second arm (12) mounted on the auxiliary link (7) to be swingable and coaxial with a connection shaft between the first arm (5) and the auxiliary link (7); and a spring device (20) extending between the first arm (5) and the second arm (12). Since the spring device (20) acts in such a direction as to assist in acceleration and deceleration of the first arm (5) and the second arm (12), a drive motor can be small in power.
