The invention discloses a five-axis multifunctional manipulator, which comprises a base, an X-axis movable plate, a Y-axis movable plate, a rotary disc, a rising rack and a rising movement rack, wherein a movable joint is connected onto the rising movement rack; a flange plate for placing a workpiece is arranged on the movable joint. According to the five-axis multifunctional manipulator, through the combination of a rolling ball screw, a linear guideway and a servo gear motor, a heavy disc workpiece can be accurately adjusted and located in three axes directions of an X axis, a Y axis and an XY plane, and can be moved in a straight line in a Z-axis direction and be swung in a Z direction, so that the five-axis movement of the manipulator is realized, the free movement of the workpiece in various directions in a space is realized through a guide mechanism, the loading capacity is strong, the moving precision is high, the moving stroke is large, the problem of eccentricity when the manipulator is in a loading state can be solved, and the five-axis multifunctional manipulator can meet the requirements on catching disc workpieces with different sizes, has favorable expansibility and is wide in range of applicable workpiece sizes.