Gripping device, usable for example on a robot, for handling items or components of variable shape and size, said device comprising: - a support structure, - a plurality of gripping arms, each including a first proximal arm portion pivotally connected to the support structure and at least one second distal arm portion connected to the first proximal arm portion, - a plurality of actuator devices carried by the support structure and each associated with a respective gripping arm, for commanding an articulation movement of said first proximal arm portion with respect to the support structure, - at least one tendon associated with each gripping arm and having a first and a second head end secured to the first proximal arm portion and to the second distal arm portion respectively, - each tendon being guided in a freely slidable manner along said first and second arm portions (3A, 3B) through a succession of guiding elements (6, 320) associated with said first and second arm portions (3A, 3B), - wherein the guiding elements associated with the first proximal arm portion are carried by an inner yielding panel arranged on an inner side of said first arm portion, which faces the item or component to be gripped, - so that when the inner yielding panel on the inner side of the first proximal arm portion engages against an item or component to be gripped following a command given by the respective actuator device, the guiding elements of the tendon carried by the inner yielding panel causes a tensioning of the tendon which results in an articulation and/or inflection movement of said second distal arm portion with respect to the first proximal arm portion, - so that each gripping arm is able to automatically adapt to the configuration of the item or component to be gripped, independently of the other gripping arms. - a support structure, - a plurality of gripping arms, each including a first proximal arm portion pivotally connected to the support structure and at least one second distal arm portion connected to the first proximal arm portion, - a plurality of actuator devices carried by the support structure and each associated with a respective gripping arm, for commanding an articulation movement of said first proximal arm portion with respect to the support structure, - at least one tendon associated with each gripping arm and having a first and a second head end secured to the first proximal arm portion and to the second distal arm portion respectively, - each tendon being guided in a freely slidable manner along said first and second arm portions (3A, 3B) through a succession of guiding elements (6, 320) associated with said first and second arm portions (3A, 3B), - wherein the guiding elements associated with the first proximal arm portion are carried by an inner yielding panel arranged on an inner side of said first arm portion, which faces the item or component to be gripped, - so that when the inner yielding panel on the inner side of the first proximal arm portion engages against an item or component to be gripped following a command given by the respective actuator device, the guiding elements of the tendon carried by the inner yielding panel causes a tensioning of the tendon which results in an articulation and/or inflection movement of said second distal arm portion with respect to the first proximal arm portion, - so that each gripping arm is able to automatically adapt to the configuration of the item or component to be gripped, independently of the other gripping arms.