The invention provides a novel five-shaft combined manipulator. The five-shaft combined manipulator comprises a five-shaft combined manipulator main body, a telescopic arm main body and two torsional arms, wherein the telescopic arm main body comprises two telescopic single arms, wherein the two telescopic single arms are provided with position adjusting devices; each torsional arm comprises a torsional arm support body, a base-pate and a torsional arm device, wherein each base-plate is provided with a bar-shaped through hole and a guide slot, and each guide slot comprises a linear section and an arc section; each torsional arm device comprises a rotating arm, a sliding block, a connecting rod and a driving device. In this way, the configuration of a traditional five-shaft combined manipulator is broken through by the novel five-shaft combined manipulator, the positions of and space between the two telescopic single arms can be adjusted by the position adjusting devices; the rotating arms are driven to move along the bar-shaped through holes by the driving devices, the rotating arms move along the linear section and the arc section sequentially, and the rotating arms are pulled to reverse by the connecting rods gradually. Compared with the prior art, the telescopic arm is strong in adaptability and matching, and can precisely and quickly take and place products; and the torsion of the torsional arms can be realized, and the telescopic arms are novel and reasonable in structure, flexible to operate, and strong in practicality.