Spatial linkage type manipulator

A spatial linkage type manipulator comprises a driving device, rod members and revolving shafts connected between the rod members. The driving device comprises a connecting shaft, the connecting shaft comprises an outer wall and an inner wall, each rod member comprises a large arm, a small arm, an oblique large arm, an oblique small arm and a tail end member, the large arm and the oblique large arm are straight rods, the small arm and the oblique small arm are bent rods, a primary motion chain ABC is formed by the large arm, the small arm and one end of the tail end member, and a secondary motion chain DEF is formed by the oblique large arm, the oblique small arm and the other end of the tail end member. The driving device drives the large arm to move around a revolving shaft A so as to drive the primary motion chain ABC to move. The tail end member pulls the secondary motion chain DEF to move so as to achieve linear motion of the tail end member.