Abstract: The object is to provide a universal joint that, has a secure range of motion, does not deviate from the center of rotation, and does not generate bending moments between itself and a joint that links a plurality of movable members. A plurality of movable members (3A-3F and 3a-3f) and a spherical member (2) that links the plurality of movable members are provided, curved node sections (q) are formed on the movable members and are brought into contact with the spherical member (2), and by causing one of the plurality of movable members (3A) to rotate such that the curved node section thereof rotates along the surface of the spherical member (2), another one of the plurality of movable members (3B) is caused to rotate along the surface of the spherical member.