A second member having an elongated shape is attached to a first member via a connecting member. The connecting member is rotatable around a first shaft in a direction intersecting with a longitudinal direction of the second member with respect to the first member and rotatable around a second shaft intersecting both the longitudinal direction and a direction along the first shaft with respect to the second member. Further, a first drive part that rotationally drives the connecting member around the first shaft is provided in the first member and a second drive part that rotationally drives the connecting member around the second shaft is provided in the second member. In this manner, a robot hand that can rotate the first member and the second member not only around the first shaft but also around the second shaft may be realized with a simpler and smaller structure.