The invention provides a clamping flexible manipulator. The clamping flexible manipulator comprises first pipe bodies and second pipe bodies, wherein the first pipe bodies are attached to the outer surfaces of cylindrical parts, and the second pipe bodies correspond to the first pipe bodies one by one. First accommodation cavities and second accommodation cavities are formed in the first pipe bodies, wherein the first fluids are arranged in the first accommodation cavities, the first accommodation cavities are close to the cylindrical parts, the second accommodation cavities are arranged opposite to the first accommodation cavities, the second accommodation cavities and the first accommodation cavities are distributed at intervals, second fluids are arranged in the second accommodation cavities, and the first pipe bodies bend towards the sides with the small expansion degree. Third accommodation cavities and forth accommodation cavities are formed in the second pipe bodies, wherein thethird fluids are arranged in the third accommodation cavities, the forth accommodation cavities are arranged opposite to the third accommodation cavities, the third accommodation cavities and forth accommodation cavities are distributed at intervals, forth fluids are arranged in the forth accommodation cavities, and the second pipe bodies bend towards the sides with the small expansion degree. According to the clamping flexible manipulator, the first pipe bodies are combined with the second pipe bodies, a clamping structure is achieved, cylindrical articles can be effectively grasped, and theclamping flexible manipulator has the advantages of simple structures, convenient operation and convenient machining and production.