A rigid-flexible parallel-series berry picking manipulator with lockable joints comprises a rack, a servo motor, and two or more fingers of the same structures, wherein each finger comprises two rotational joints; the first joint of each finger is an active joint driven by the servo motor; a rigid driving arm is mounted on each first joint; the second joint of each finger is a free joint with a lockable device, and is used for connecting the corresponding rigid driving arm with a soft component knuckle; each soft component knuckle is made of a soft material; and a weight is mounted at one end of each soft component knuckle, and the other end of the soft component knuckle adopts a soft grasping structure. As the free joints with the lockable devices are used for connecting the rigid driving arms with the soft component knuckles provided with soft grasping structures to form rigid-flexible parallel-series finger structures, the purpose of flexibly grasping an object fast is realized while adoption of force sensors for detection and control of grasping parameters is avoided, the grasping efficiency is effectively improved, and both functions can be guaranteed simultaneously. The rigid-flexible parallel-series berry picking manipulator is simple in structure and flexible in movement, and can be used for fast and flexible grasping of vulnerable objects such as berries.