A robot hand, comprising: a plurality of fingers (140A-D) which hold a target by changing the clearances between the fingers (140A-D);and a center member having a driving mechanism for shifting the plural fingers (140A-D); characterized by a plurality of first peripheral members (110A, 110B) disposed away from the surfaces of the center member in a first direction; first driving shafts (111A, B) projecting in the first direction from the first peripheral members (110A, 110B) and connecting with the driving mechanism; a plurality of second peripheral members (120A, 120B) disposed away from the surfaces of the center member in a second direction crossing the first direction; second driving shafts (122A, B) projecting in the second direction from the second peripheral members (120A, 120B) and connecting with the driving mechanism; shifting members (130A-D) disposed in the second direction with respect to the first peripheral members (110A, 110B) and in the first direction with respect to the second peripheral members (120A, 120B), and carrying the fingers (140A-D); first sliding shafts (131A-D) projecting in the first direction from the shifting members (130A-D) and inserted into first sliding bores (123A-D) formed in the second peripheral members (120A, 120B) in such a manner as to slide in the first sliding bores (123A-D); second sliding shafts (132A-D) projecting in the second direction from the shifting members (130A-D) and inserted into second sliding bores (114A-D) formed in the first peripheral members (110A, 110B) in such a manner as to slide in the second sliding bores (114A-D); and a second center sliding shaft (126A, B) projecting in the second direction from at least one of the second peripheral members (120A, 120B) and inserted into a second center sliding bore formed in the center member in such a manner as to slide in the second center sliding bore. a plurality of fingers (140A-D) which hold a target by changing the clearances between the fingers (140A-D);and a center member having a driving mechanism for shifting the plural fingers (140A-D); characterized by a plurality of first peripheral members (110A, 110B) disposed away from the surfaces of the center member in a first direction; first driving shafts (111A, B) projecting in the first direction from the first peripheral members (110A, 110B) and connecting with the driving mechanism; a plurality of second peripheral members (120A, 120B) disposed away from the surfaces of the center member in a second direction crossing the first direction; second driving shafts (122A, B) projecting in the second direction from the second peripheral members (120A, 120B) and connecting with the driving mechanism; shifting members (130A-D) disposed in the second direction with respect to the first peripheral members (110A, 110B) and in the first direction with respect to the second peripheral members (120A, 120B), and carrying the fingers (140A-D); first sliding shafts (131A-D) projecting in the first direction from the shifting members (130A-D) and inserted into first sliding bores (123A-D) formed in the second peripheral members (120A, 120B) in such a manner as to slide in the first sliding bores (123A-D); second sliding shafts (132A-D) projecting in the second direction from the shifting members (130A-D) and inserted into second sliding bores (114A-D) formed in the first peripheral members (110A, 110B) in such a manner as to slide in the second sliding bores (114A-D); and a second center sliding shaft (126A, B) projecting in the second direction from at least one of the second peripheral members (120A, 120B) and inserted into a second center sliding bore formed in the center member in such a manner as to slide in the second center sliding bore.