The invention relates to a manipulator, especially relates to a simulation manipulator for opening and closing doors. The simple and feasible simulation manipulator includes a driving wheel; the special feature of the manipulator is that one end of a connecting rod is connected to the driving wheel, and the other end of the connecting rod is connected to the outer side of a vehicle door; an innerdoor handle poking plate inside the vehicle door is connected to an arm pulling plate through a connecting piece; and the arm pulling plate includes a contactor contacting with the top part of the connecting rod. The beneficial effects of the manipulator are that the driving wheel is in clockwise rotation in the manipulator, the connecting piece connected to the inner door handle poking plate inside the vehicle door can be pulled under the action of the arm pulling plate, so that the opening and closing of the vehicle door can be achieved; and the manipulator is simple in structure and convenient for usage, and can reasonably solve the problem of the direction of force.