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 .Robin (robyn) Hood appears to be a name used in medevil times to refer to any thief  or vagabond who lived outside the law.  
 There must have many stories some part-true about such characters.  
 Robin Hoods Bay might equally have been called thieves bay an it was sometimes  
 "‘Robin Oed’s Bay’ is mentioned in correspondence from the years 1324 to 1346, between the Count of Flanders and King Edward (Ancient Correspondence of the Chancery and the Exchequer, National Archives, SC1/33/202). The record was discovered by Robert Lynley. This place later became known as ‘Robin Hood’s Bay’ (see below; Yorkshire, North Riding, Robin Hood’s Bay)."      from a simple internet place name search....