A horizontal self-adaptive adjusting space six-freedom-degree follow-up joint manipulator comprises a connecting base mechanism, a driving mechanism, a connecting rod mechanism and a manipulator body; the driving mechanism is arranged on the connecting base mechanism; the connecting rod mechanism is arranged on the driving mechanism; the manipulator body is arranged on the connecting rod mechanism so that the driving mechanism can drive horizontal adjustment and height adjustment of the manipulator body through the connecting rod mechanism; and the connecting rod mechanism achieves rotation of the manipulator body in the X direction, the Y direction and the Z direction, so that adjustment of the manipulator body in six freedom degrees of a space can be achieved, and therefore butt joint pieces clamped by the manipulator body can be accurately corrected and in butt joint. By means of the connecting rod mechanism, rotating shafts, of three rotating freedom degrees, of the manipulator body can be intersected at one point, and therefore the functions that the three shafts are intersected at the center and three centers coordinate with one another are achieved, so that adjustment of the horizontal self-adaptive adjusting space six-freedom-degree follow-up joint manipulator saves labor and is light, and operation is easy.