A link mechanism (10) has a first main link (11) and a second main link (21), which are coupled by a joint (31). The link mechanism (10) includes: a pivot bar (41) which has one end pivotably attached at a position in the second main link (21), the position opposing the joint (31), along a plane that is orthogonal to a rotating shaft of the joint (31), and which extends toward the joint (31) from the one end; a slider (42) provided on the pivot bar (41) slidably along the pivot bar (41); a moving mechanism (50) which has one end coupled to the joint (31) and the other end coupled to the slider (42) to move the slider (42); and elastic members (43) which are connected to the pivot bar (41) and the second main link (21) to urge the pivot bar (41) toward a neutral position.