PURPOSE: To set a robot hand tip part to the minimum required width, lower the internal inertia in a tilting arm while improving rigidity and reduce assembling mandays and the number of part items in a robot hand provided with three kinds of freedom at its wrist part and formed in such a way that the rotation axis of a grip part provided at the wrist tip coincides with the axis of a turning arm supporting the wrist.

CONSTITUTION: There are provided a turning arm 3 rotatably connected to a base arm rotatably connected to another arm, and a tilting arm 4 provided with a tool grip part 5 rotatably connected to the tip thereof connected in the tiltable state to the tip of the turning arm 3. Inside the turning arm 3, a tilting motor 7 for the tilting arm 4 and a motor 6 for rotating the tool grip part 5 are disposed parallel with the respective output shafts thereof placed in the same direction, and also vertically to the rotational axis of the turning arm 3. The tip part width of the turning arm 3 is made independent of the length of the motor in the turning arm 3 so as to be set to the minimum required width, and also the tension adjustment of timing belts 12, 13 can be performed easily without using a tension pulley and the like.