To provide a robot hand having simple structure and an inexpensive manufacturing cost which can surely accurately actuate each finger, since a pair of driving shafts are revered each other by using a motor, and a plurality of fingers is pivotally moved from the driving shaft through gear trains.

The robot hand is composed of first fingers 10, 11, 20 which are formed by the pair of driving shafts 5, 6 which reverse the rotation from the motor 1 each other and are rotatably mounted to a frame 2, and a pair of plate-like members where one end is firmly fixed and pivotally moved respectively, and second fingers 12, 13, 21 where the rotations of the driving shafts 5, 6 are respectively transmitted through the gear trains 25 disposed to the first fingers, and which pivotally move an object in the reverse direction each other so as to be able to hold and release. The second fingers are pivotally attached to the other end of the first fingers.