The present invention relates to a single-clip-arm-shaft multiple-collet type manipulator which comprises a clip arm base, a cam and more than one collet components fixed at the clip arm base. The collet components comprises a first clip arm, a second clip arm, a first swing stem, a second swing stem, a slip arm shaft and a clamp spring. The first clip arm is fixed at the clip arm shaft and rotates along with the clip arm shaft. The second clip arm is mounted at the clip arm shaft. One end of the first swing stem is connected with the clip arm shaft and drives the clip arm shaft to rotate, and the other end of the first swing stem is contacted and matched with the cam. One end of the second swing stem is connected with the second clip arm, and the other end of the second swing stem is contacted and matched with the cam. The present invention provides a single-clip-arm-shaft multiple-collet type manipulator which has simple and compact structure and low cost and can improve the collet installation quantity on the same clip arm base and accordingly improve the efficiency of a whole machine.