The invention relates to the field of robots, in particular to a linkage wearable sixteen-degree-of-freedom driving end mechanical arm which comprises a support, a waist assembly, a trunk base, shoulder assemblies and arm assemblies. The waist assembly can achieve two degrees of freedom of rotation and pitching, and the shoulder assemblies can achieve three degrees of freedom of abduction and adduction, outward rotation and inward rotation and forward bending and backward stretching. The left shoulder assembly and the right shoulder assembly achieve six degrees of freedom in total, the arm assemblies can achieve four degrees of freedom of forward bending and backward stretching of elbows, inward rotation and outward rotation of forearms, flexor bending and contortion of wrists, and palm bending and opisthenar bending of wrists and eight degrees of freedom of the left arm and the right arm, and action information sensing assemblies are arranged in all rotating joints. According to the linkage wearable sixteen-degree-of-freedom driving end mechanical arm, the degree of freedom of operation is greatly increased, different positions of the waist, shoulders, wrists, forearms and wristsof an operator can be sensed according to the rotating angle of each joint, and then position information is sent to the bionic robot auxiliary arm, so that the bionic robot auxiliary arm makes corresponding actions, and control is more accurate.