The purpose of this paper is to present an approach to the design and manufacture of a flexible pneumatic manipulator. This type of manipulator belongs to the rapidly growing field of soft robotics. The goal of the paper is to show the advantages of soft compared to conventional robotics in certain segments of its activity, especially in the field of collaborative robots. A flexible pneumatic manipulator is essentially a simple robotic arm composed of two joints interconnected by inflatable actuators that form one spherical joint. At the top of this manipulator there is a vacuum gripper that enables the acceptance and transfer of objects from the initial to the final positions and their release. First of all, the choice of manipulator structure and the characteristics that make it belong to the field of soft robotics, as well as its characteristics in general, are explained. Next, the conceptual design of the assembly is approached, which consists of drive and control components, and their influence on the final operation of the manipulator is presented. The next step is the selection of commercially available components for making the circuit and the prototyping itself, followed by motion programming in Arduino. Then, the results and possibilities of motion realized by this experimental work are presented. Finally, the perspective of further development of this manipulator is presented in the form of its connection to more advanced systems, for example by integrating sensors and using artificial intelligence.