The invention relates to an elastic corrugated pipe single-acting cylinder-driven serial hinge framework manipulator. The manipulator consists of a palm and two flexible fingers, or consists of a palm and three flexible fingers, wherein each flexible finger is same in structure, and mainly comprises an elastic corrugated pipe single-acting cylinder and a serial hinge; a torsional spring is arranged on a hinge spindle of each serial hinge; the characteristic parameters and pre-tightening angles of the torsional springs are optimally designed according to the characteristics of a grabbed object; the manipulator generates grabbing force under the driving action of the elastic corrugated pipe single-acting cylinders. The manipulator is used for grabbing fragile crispy objects or special-shaped objects of variable shapes and sizes, and belongs to the application technical field of robots and mechanical and electronic integration; the manipulator is connected with a robot body, and is particularly suitable for grabbing, sorting, packaging and the like of foods, agricultural products and light industrial products in the production and physical distribution fields.