The invention discloses a
manipulator simulating a human palm and belongs to the technical field of manipulators, the
manipulator comprises an integrated skeleton, a driving
assembly, a transmission structure and a
finger structure, the integrated skeleton is integrally bent towards the palm center side to form an arc-shaped plate, a cavity is formed in the arc-shaped plate, and
fist bone parts are arranged at the positions, corresponding to four fingers, of the integrated skeleton. The positions, close to the
tail ends of the phalanges, of the
fist bone part are specially enlarged, the protruding parts are formed, active intervention is conducted on the grabbing space, when fingers bend towards the palm center for grabbing, the
tail ends of the fingertip blocks and the
tail ends of the finger head blocks can be tightly attached to or make contact with the protruding parts, the gap between the fingertips and the palm center area in the
fist-clenching state is reduced, and therefore the grabbing effect is improved. The small objects are firmly limited in a closed or semi-
closed space jointly formed by the bent fingers and the protruding palm face and have no place to slip, so that the small objects are stably and reliably grabbed, and the refined operation scene of the mechanical arm is expanded.