PURPOSE: To provide a gripping device to which a payload is fitted to the vicin ity of the center of gravity.

CONSTITUTION: This gripping device is provided with a nearly U-shaped actuator frame 60 rotatably connected to a manipulator arm. The actuator frame 60 is provided with a pair of spaced apart actuator arms 66, 68. A nearly U-shaped payload frame 70 is provided with a bracket member 72 for attaching to a payload and a pair of payload arms 74, 76 extending from the opposite ends of the bracket member 72. The payload frame 70 is pivotally movable relative to the actuator frame arms 60 about an axis A which is perpendicular to the axis of the shaft 22. A cam mechanism 90 functions to releasably hold the payload frame 70 in certain orientations. A brake device 40 prevents rotation of the actuator frame 60 about the axis A of the shaft 22.