In a bearing detachment prevention structure provided in a rotation pair portion of a link mechanism, play filling-up and pre-load adjustment for the bearing are realized with ease. As a means for therefor, there is provided a link actuating device having three or more sets of link mechanisms in each of which end link members are rotatably connected to input and output members respectively arranged on the input and output sides, the respective end link members on the input and output sides being rotatably connected to intermediate link members to form four rotation pair portions, the input and output sides being geometrically the same with respect to a cross section in a central portion of each link mechanism, in which each rotation pair portion of the link mechanisms has a bearing structure consisting of two bearings, with a play filling-up means for regulating axial movement of the two bearings being provided in the rotation pair portions. Further, by appropriately determining the configuration of each component forming the link mechanisms, interference between the components during operation of the link mechanisms is prevented. As a means therefor, a beveled portion is formed on the link side peripheral end edge portion of each input member, whereby interference between the end link member and the outer peripheral surface of the rotation pair portion of each intermediate link member is prevented.