The invention relates to a bionic grabbing manipulator, belonging to the technical field of robot operation. The bionic grabbing manipulator comprises a manipulator index finger, a manipulator middle finger, a manipulator ring finger, a manipulator little finger, a gear shaft I, a palm supporting plate III, a palm supporting plate IV, an outer side supporting rack, a palm supporting plate II, an inner side supporting rack, a palm supporting plate I, a manipulator thumb, a gear shaft II, an index finger control cam, a thumb control cam, a limiting block I, a middle finger control cam, a large cylindrical gear, a little finger control cam, a ring finger control cam, a limiting block II, a small cylindrical gear, a large bevel gear, an input shaft, a small bevel gear, an oscillating bar, a limiting block III, a limiting block IV, a finger fixing shaft, a palm supporting plate IV assembly position, a little finger assembly position, a palm supporting plate III assembly position, a ring finger assembly position, a middle finger assembly position, a palm supporting plate I assembly position, an index finger assembly position, a palm supporting plate II assembly position, a through hole, a positioning rod and a limiting block V. By adopting the bionic grabbing manipulator, the grabbing efficiency can be improved, and the control difficulty can be reduced.