"Clearing" and "restoring" the screen is actually a function of the terminal emulator you are using (xterm, gnome-terminal, konsole, screen).
By default, the pager that man uses is less.
From man 1 man
-P pager
Specify which pager to use. This option overrides the
MANPAGER environment variable, which in turn overrides
the PAGER variable. By default, man uses /usr/bin/less -is.
When less is invoked, an altscreen is launched by the terminal emulator to display the contents of the man page. When less exits, the altscreen is destroyed and the terminal displays what was saved in the buffer.
There is an answer herehere which discusses this further and how to keep programs like less from launching an altscreen and thus clearing the screen when it exits. In a nutshell, you could define an environment variable so that less does not launch an altscreen on invocation. If you are using bash, place this in ~/.bashrc:
export MANPAGER="/usr/bin/less -r -X -is"