A new multifunctional threefingered manipulator was designed based on the selfdeveloped pneumatic flexible joints. The position of the flexible fingers could be adjusted by rotary cylinder placed on the connecting part to grasp objects with different shapes and sizes. ADAMS was used to simulate the movement and grasp of the manipulator, and the static experiment of the flexible finger, the pose and grasp experiment of the manipulator were carried out. Simulation and experimental results show that the manipulator can grasp spherical, square, triangular and cylindrical objects with different size flexibly applying three grasp patterns of grasp, envelop grasp and finger hook. The maximum bending angle and maximum clamping force of the pneumatic flexible finger is 275° and 5.5 N respectively; the manipulator can grasp objects with a maximum diameter of 250 mm and a weight of 1 kg.