This paper first gives the development level of manipulator (including flexibility and rigidity) at home and abroad according to the research, summarizes the advanced and limitations of the design of the present manipulator, aiming at the limitations of this design proposed a multi-chamber pneumatic flexible driver and mechanical transmission of humanoid mechanical arm, and its design description, Structure of flexible fingers combined with mechanical drive humanoid robotic arm, rigid-flexible economic, palm part which can realize flexible adaptability to grab, grab a soft, at the same time provides enough degrees of freedom mechanical arm, has good flexibility, adaptability, dexterity [1-3] and a high degree of freedom, can adapt to all kinds of complicated work in the industrial production and life service environment.