The invention provides an integral five-finger humanoid
manipulator based on 3D printing. The
manipulator comprises a hand main body with 14 bending freedom degrees, a
rope pulling
assembly and a contact-type perceiving
assembly, wherein the hand main body adopts an integrally-formed structure; the hand main body comprises a palm and five fingers connected with the palm. The
manipulator provided by the invention has a very high bionic degree, has the characteristics of a simple structure, small size and high softness; meanwhile, the manipulator adopts an integrally-formed structure, so that secondary
assembly is not required, a complex assembling link is omitted, production is convenient, the production efficiency is high, and the cost is reduced; in addition, through the
rope pulling assembly, movement of each joint can be achieved, so that the manipulator is safe and flexible; through the contact-type perceiving assembly, the manipulator has a preliminary tactile function in the moving and working process, so that the degree of intelligence of the manipulator is enhanced; the manipulator has an important application value in the fields of industrial robots, agricultural robots, service robots, educational robots and the like.