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In order to solve the problem that the fruit skin is fragile and not suitable to be grasped by traditional rigid gripper, based on the structural characteristics of octopus tentacle, combined with bionics principle and additive manufacturing technology, a kind of pneumatic flexible gripper with simple structure and adaptability, which was composed of three flexible fingers and fixed components, was designed and manufactured. ANSYS was used to simulate and test the bending of flexible fingers under different pressures. It was found that the flexible fingers could have large bending deformation under low pressure. The maximum bending angle was 22.4°and the maximum pressure was 2.38N when the air pressure was 100kPa. In order to test the gripping ability of the flexible gripper, a special test device was designed to study the clamping performance of the flexible gripper. The results showed that there was a good linear relationship between the grasping force of the flexible gripper and the input air pressure. Under the pressure of 100kPa, the maximum grasping force was 5.53N, and the actual load of the flexible gripper was 564g. The maximum gripping diameter of the flexible claw can reach 100mm. The effect was good and reached the design target.