The invention relates to industrial automation equipment, in particular to an automated manipulator. A four-degree-of-freedom servo manipulator comprises a lifting arm, a rotary arm, a telescopic boom, a torsional arm, a base and a gripper, wherein the lifting arm is fixedly connected to the base, and fixed on the ground; the gripper is fixedly connected to the output end of the torsional arm; the fixing plate of the telescopic boom is fixedly connected to a rotary cover plate; one end of the telescopic boom is fixedly connected to a vertical flange plate, and the torsional arm is fixedly connected to the vertical flange plate. The four-degree-of-freedom servo manipulator provided by the invention is applicable to machine manufacturing processes and achieves material transportation and transmission, the frictional resistance is small, the running is stable, the accuracy is high, the service life is long, the four-degree-of-freedom servo manipulator provided by the invention can be used for picking up workpieces, through the compact structure distribution of the four-degree-of-freedom servo manipulator, the external dimension can be effectively controlled, and a maximal running space can be obtained.