The invention discloses a human-simulated mechanical arm based on hybrid driving of various artificial muscles, which comprises a motor driving cradle head, a pneumatic muscle (PAM) bionic elbow joint, a shape memory alloy (SMA) bionic wrist joint and an IPMC bionic hand, wherein a shoulder joint has two rotational degrees of freedom; the elbow joint has three rotational degrees of freedom; the wrist joint has two rotational degrees of freedom; and the bionic hand has four fingers and eleven degrees of freedom, so that the mechanical arm has eighteen degrees of freedom. The cradle head is connected with the elbow joint through a shaft, the elbow joint is fixedly connected with the wrist joint through three bolts, and the wrist joint is fixedly connected with the bionic hand through a screw thread. Compared with a motor driving mechanical arm with the same specifications, the mechanical arm disclosed by the invention has the advantages of simple structure, high power-density ratio, good safety, high flexibility and the like, and the mechanical arm is enabled to have better flexibility and bionics characteristics through simulating a bone-muscle system of an upper limb of the human body. The human-simulated mechanical arm disclosed by the invention can be widely applied to the fields of home services, rehabilitation therapy, risk elimination and rescue, material handling and the like.