In order to produce a gripping device for a robot or for a gantry loader that can be employed in a flexible manner, it is proposed that the gripping device should comprise at least one linearly displaceable gripping jaw and at least one pivotal gripping connection. The gripping jaw may be linearly displaced along a longitudinal axis of the gripping device by means of a linear drive to grip and release a workpiece. The pivotal gripping connection can be pivotably rotated along a pivotal axis to likewise grip and release a workpiece. In an embodiment, the pivotable gripping connection can be arranged in a plurality of different positions with respect to the housing of the gripping device so that a plurality of different gripping orientations can be achieved.