The utility model relates to a three-degree-of-freedom manipulator structure with double tail end executing mechanisms. The three-degree-of-freedom manipulator structure comprises a waist rotating mechanism (1), an arm platform lifting mechanism (2), an arm telescopic mechanism (3) and the tail end executing mechanisms (4). When the waist rotating mechanism (1) rotates, rotation of the waist rotating machine cover (106) is achieved, and then a device installed on the waist rotating machine cover (106) is driven to rotate. The arm platform lifting mechanism (2) is driven by a ball screw pair composed of a lead screw (202) and a flange nut (209) to move up and down along a guide rod (206). The arm telescopic mechanism (3) is fixedly connected to the arm platform (207), and when a piston rod(304) of the arm telescopic mechanism (3) stretches out and draws back, the two tail end executing mechanisms (4) can be driven to move front and back. The clamping device has the advantages of beingsimple in structure, beneficial to improving the clamping efficiency of the inner hole thin-wall part and convenient to apply and popularize.