▎ 摘　　要

NOVELTY - The invention claims a manipulator; the cylindrical EAP driver and SMA driver are combined by a connecting piece; the linear driving of the cylindrical EAP driver is used for realizing the movement freedom of the joint unit; the SMA driver is used for realizing the rotation degree of freedom of the joint solves the technical problem that the graphene powder material taking precision is poor in the existing technology; at the same time, because the invention connects the cylindrical EAP driver and SMA driver in series in the form of end to end, the joint unit is used for executing the end position; motion and mechanical inversion operation is simple, which is good for providing reaction speed.