A pneumatic manipulator was designed to meet the transport requirements of the mixedflow automatic production line. The adaptive and flexible fingers could be used to grasp and carry lightweight articles with various shapes and sizes. According to the functional requirements, the FluidSIM-P, GX Works2 and KingView were respectively used for the design of pneumatic circuit, PLC programming and interface configuration. The virtual server was built with MX OPC Server software to provide data access interface, realize data link and embedding for multisoftware co-simulation. Simulation results show that the data exchange between the multisoftware is realtime and synchronous,and the automatic operation of the manipulator can achieve the desired effect. This simulation experiment method is convenient to monitor the running state of manipulator dynamically and from multiple perspectives. It can also provide reference for practical application in production in the future.