A novel five-freedom-degree manipulator is composed of a machine base, a waist, a stand arm, a cantilever, a wrist, an end effector, a driving device and a transmission device. The novel five-freedom-degree manipulator has five freedom degrees, can simulate human hand actions, has the advantages of rapid action, good applicability, rapid response and the like, and is high in stability, and the phenomenon that the manipulator cannot work normally due to being easily affected by the environment is avoided; and in the using process, the manipulator is unobvious in leakage, low in environmental pollution, simple in structure, high in rigidity, good in low-speed performance, large in power, high in positioning precision, extremely high in production reliability, quite high in flexibility and high in universality.