The invention provides a manipulator and a transmission chamber, comprising: a manipulator finger and a linear transmission mechanism. The manipulator is used to carry a to-be-processed workpiece; the linear transmission mechanism is used to drive the manipulator for straight reciprocating motion. The linear transmission mechanism comprises a first-order linear module and a second-order linear module wherein the first-order linear module is used to drive the second-order linear module for straight reciprocating motion and the second-order linear module overlaps the first-order linear module when the second-order linear module is located at the stroke starting end of the first-order linear module. The second-order linear module is used to drive the manipulator finger for straight reciprocating motion and the manipulator finger overlaps the second-order linear module when the manipulator finger is located at the stroke starting end of the second-order linear module. The straight reciprocating motion of the manipulator finger is realized on the same straight line as the straight reciprocating motion of the second-order linear module. The manipulator finger provided by the invention, under the condition that the motion distance required by the manipulator finger to complete the piece placing operation is satisfied, is small in size, which further reduces the size of the transmission chamber and the equipment manufacturing cost.