The invention provides a material-charging material-taking servo simulated manipulator, belonging to manipulators, and is used for charging and taking materials of large-scale workpieces. According to the invention, a vehicle body moves and a rotary workbench rotates under full-hydraulic power; a front large arm, a middle large arm, a back large arm, an upper small arm, a lower small arm, a link board, an upper toggle rod, a lower toggle rod and the rotary workbench form three parallelograms; the cylinder rod of a lifting oil cylinder is articulated with the lower toggle rod; the cylinder rod of a link rod telescopic oil cylinder is articulated with the middle large arm; a rotary support hydraulic motor drives a tongs head portion to swing; a tongs head telescopic oil cylinder drives the telescopic oil cylinder to extend and retract; a tongs head rotary hydraulic motor is connected with a worm and worm wheel mechanism; a hollow worm wheel shaft is connected with a hollow shaft; a pull rod is connected with the tongs head; the tongs head rotary hydraulic motor drives the tongs head to rotate; the cylinder rod of the clamp cylinder with the cylinder rod located on the axis of the worm wheel shaft is connected with the pull rod to drive the tongs head to clamp or release. The manipulator provided by the invention solves the technical problems of constant angle changes of the mechanical arms and the rotary workbench driven by the pitching oil cylinder of the existing material-charging material-taking manipulator and defects of the clamp rotation mechanism.