Gripping device , usable for example on a robot, for handling items or components (P) 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 through a succession of guiding elements associated with said first and second arm portions , - 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 (P) 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 (P) 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 (P) 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 through a succession of guiding elements associated with said first and second arm portions , - 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 (P) 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 (P) 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 (P) to be gripped, independently of the other gripping arms . <EOS>