Macro high-precision six-degree-of-freedom manipulator

The utility model discloses a macro high-precision six-degree-of-freedom manipulator which comprises a fixing frame. The XZ motor group is fixedly arranged on the fixing frame; the swing frame is connected with the XZ motor set, and the XZ motor set drives the swing frame to do linear motion in the X-axis direction or rotate in the Y-axis direction; the XY motor group is fixedly arranged on the swing frame; the supporting plate is fixedly arranged above the XY motor set, and the XY motor set drives the supporting plate to do linear motion in the Y-axis direction or rotate in the Z-axis direction; the YZ motor group is fixedly arranged on the supporting plate; the connecting plate is connected with the YZ motor set and is connected with a clamping manipulator, and the YZ motor set drives the connecting plate to do linear motion in the Z-axis direction or rotate in the X-axis direction; and the clamping manipulator is fixedly arranged on the connecting plate. According to the utility model, the high-precision m