To provide a grasping mechanism to hold the attitude of a work even during high speed movement and an instantaneous stop and perform smooth operation even during high speed operation.

The fingers 22 and 23 of a slider 23 are formed at one oscillate driver 1 and the slider 13 provided with the fingers 22 and 23 is coupled through the oscillate driver 1, an arm 7 for revolution, and a connecting rod in the conveying direction of an arrow mark A in synchronism with each other, and the fingers 22 and 23 are formed with a distance therebetween. Further, the connecting rod of a parallel link mechanism is formed on the arm 7, the connecting rods 9 of respective link mechanisms are interconnected through a relay shaft 4. Further, a cylinder cam 30 is connected to one link mechanism. The motion heights of fingers 22 and 23 of the slider 13 is set to the vicinity of am intermediate height between the upper and lower limits of the revolution locus of the end of the arm 7.