This paper deals with the mechanism and the control method of a new robotic manipulator in construction based on man-robot cooperation work. Because of the coming labor shortage of the aging society in the near future, robots will be used in the construction field more and more. To support robot operation, this study aims to develop a cooperation work type of robot to be controlled easily by the direct teaching. The robot has the following features: 1) It has four D.O.F. and a parallel link mechanism. 2) It has an operation control sensor and a force control sensor to cooperate with the human operator and to control the contact force between robot and object. 3) The end effectors of this robot has a vacuum system to carry pay load. With these features, this robotic system make it possible to carry heavy pay loads easily and this system can be used for various kinds of tasks.