Hand-shaped manipulator

The invention discloses a hand-shaped manipulator which mainly comprises a hand, a wrist and a front arm, wherein the hand comprises a palm, A-type fingers, B-type fingers and a thumb. Grabbing is achieved through the A-type fingers and the thumb, and the B-type fingers are auxiliary fingers. Each A-type middle phalanx, each A-type proximal phalanx and each A-type base phalanx are controlled independently and respectively through four tendon ropes. Due to the fact that the B-type fingers have auxiliary functions, an underactuation control mode is adopted, and active control is performed on each middle phalanx through two tendon ropes. A thumb distal phalanx, a thumb middle phalanx and a thumb proximal phalanx are controlled independently through five tendon ropes. A wrist joint is matched with a spherical hinge through a cardan joint, and pitching and sideway moving can be achieved by means of telescopic movement of a pull rod. Parts of the manipulator can be manufactured easily, cost is low, and the manipulator has multiple functions achieved by a hand of a human, such as capturing, holding, grabbing, switch turning and the like. The hand-shaped manipulator is small in size, light in weight, flexible and accurate in operation, low in cost and wide in application prospect.