A spatial-link-type manipulator, comprising a drive device (10), links and rotating shafts connected between the links; the drive device comprises a connecting shaft (13); the connecting shaft comprises an outer wall (131) and an inner wall (133); each link comprises a large boom (20), a small boom (30), an oblique large boom (60), an oblique small boom (50) and a terminal component (40); the large boom and the oblique large boom are respectively a straight link; the small boom and the oblique small boom are respectively a bent link; the large boom, the small boom and one end of the terminal component form a primary motion chain; the oblique large boom, the oblique small boom and the other end of the terminal component form a secondary motion chain; the drive device drives the large boom to move around a rotating shaft A so as to drive the primary motion chain, and drives the secondary motion chain via the terminal component so as to realize rectilinear motion of the terminal component. The present invention has a simple structure and is easy to realize.