Abstract: A flexible robot manipulator is designed mainly based on the pneumatic muscles.Two different sizes of pneumatic muscles are used in wrist joint and knuckle,and two different transmission modes are adopted.A position control strategy of wrist pitch joint is given.The static model of finger is built,with which the relationship between the input pressure of the pneumatic muscles and the finger grasping force is analyzed.Experimental results show that the robot manipulator can grasp objects safely and compliantly.