The structural constitutes of the reciprocating pneumatic mobile manipulator and the function of the various components were introduced in detail. The hardware circuit of the pneumatic part and the Programmable Logic Controller (PLC) control system were designed; besides, the principle of using rotary encoder for precision position control was analyzed, and the main programs were designed partly. The designed manipulator has some characteristics, such as simple control, reliable operation, convenient position control and accurate precision, which are widely used in many fields. 