Abstract: A method for transferring a workpiece from a first manipulator to a second manipulator by means of a manipulation system in a bending installation having at least one bending machine is provided. Each manipulator comprises first, second, and third manipulator arms, each of which is pivotable about second axes, third axes, and fourth axes and exclusively in a parallel orientation with respect to a first axis of a guide arrangement. The workpiece is grasped by a holding arrangement of the first manipulator. The third manipulator arms are oriented to be opposite and to project towards one another, and the same workpiece is grasped by a holding arrangement of the second manipulator and subsequently released from the holding arrangement of the first manipulator for the direct transfer process. The invention furthermore relates to a manipulation system and a bending installation equipped therewith.