F223　harvesting　is　an　important　progress　of　the　agricultural　production.　A　pneumatic　flexible　self-adaptive　manipulator　with　finger　and　wrist　structure　is　proposed　for　achieving　nondestructive　fruit　harvesting.　The　finger　and　wrist　are　manufactured　by　3D　printing　technology,　and　the　material　is　thermoplastic　urethane　and　polylactic　acid　respectively.　Flexible　deformation　is　used　to　grasp　fruit　that　ensures　the　integrity　of　fruit.　Structure　of　the　manipulator　is　designed　based　on　the　deformation　range.　Kinematics　model　of　the　flexible　wrist　was　built　and　deformation　law　of　the　flexible　finger　was　established.　Further,　the　flexible　finger　simulation　was　set　up　for　the　deformation　and　stable　contact　force　experiment,　and　the　change　of　minimum　contact　force　was　taken　as　the　optimization　of　objective　target.　The　prototype　of　improved　flexible　manipulator　was　made　based　on　the　optimization　results.　The　stable　contact　force　is　verified　through　the　manipulator　test　by　using　the　improved　prototype.　The　results　show　that　an　optimized　structure　is　obtained,　and　it　has　a　minimal　change　in　contact　force.　Moreover,　the　flexible　manipulator　has　a　favorable　self-adaptive　function　based　on　the　structural　design.　In　addition,　the　complexity　of　the　feedback　and　control　systems　is　reduced.　©　2018　IEEE.