The invention discloses a hedgerow 
pruning manipulator with 
six degrees of freedom (DOP). The 
manipulator comprises a main swing mechanism, a 
pruning knife 
assembly and a supporting mechanism, wherein the supporting mechanism is fixed on a dragging vehicle, and consists of a base, a rotary component, a lifting component and a telescopic component; the front end of the supporting mechanism is fixedly provided with the main swing mechanism capable of doing gyroscopic motion; the output shaft end of the main swing mechanism is fixedly connected with a horizontal mechanical arm the front end of which is connected with a vertical mechanical arm, and the front end of the vertical mechanical arm is provided with a 
wrist joint; the output end of the 
wrist joint is fixedly provided with the 
pruning knife 
assembly; and a 
control system utilizes a control module which takes ARM series processors as the core to automatically control the joint operation of the horizontal mechanical arm, the vertical mechanical arm, the 
wrist joint and the main swing mechanism, so that the pruning knife can be operated along various tracks in space, thus realizing pruning operation of various form such as a spherical shape, a conical shape, a cylindrical shape, a plane, an inclined face, a wavy face and the like. The pruning 
manipulator has the characteristics of high 
automaticity, wide adaptability, 
energy conservation, 
environmental protection and the like, and is convenient to popularize and use.