Abstract: The characteristics of continuous bending, torsion, stretching and linear movement of origami make the origami configuration more suitable for the manipulator mechanism. However, the application of origami in manipulators is less common, especially for non-columnar manipulators. Based on the graph theory and origami crease allocation algorithm, this paper proposes a two-finger manipulator mechanism based on the Yoshimura origami crease, which is connected by pin rods. Through the geometric analysis of the crease, the motion characteristics of the mechanism are studied. It is found that the two-finger manipulator mechanism can achieve bending and grasping, which has the advantages of large bending degree, great capturing adaptability and high stiffness. The two-finger manipulator of the Yoshimura origami crease is designed in three dimensions. Through the analysis of the degrees of freedom and geometric analysis of the two-finger manipulator mechanism, the two-finger manipulator unit had three degrees of freedom, and the larger the angle between the rods on each unit of the manipulator, the smaller the radius of the object that can be grasped. As the number of transverse and longitudinal units of the manipulator increased, the radius of the object that can be grasped became larger.