The invention discloses a bionic soft large-load manipulator based on a vacuum driver, and belongs to a robot end executor. The bionic soft large-load manipulator simulates animals such as boas and octopuses with winding behavior in the natural world, the vacuum soft driver equivalently replaces shrinkage behavior winding animal bodies, and the loading capability of the soft manipulator is improved from the perspective of optimizing the structure layout of the soft driver. According to the basic structure principle of the bionic soft large-load manipulator, the vacuum soft driver is arranged to be in a spiral shape through a flexible retainer, an object is tightened through the shrinkage effect of the vacuum soft driver, and thus the purpose of grasping is achieved.