The invention relates to the field of soft robots, pneumatic control and bionics, in particular to a primate bionic robot driven by pneumatic muscles. The bionic robot comprises bionic grippers, an arm A, a driving joint stress wheel, an arm B, a joint driving steel wire rope, the joint driving pneumatic muscle A, the joint driving pneumatic muscle B, a pneumatic muscle mounting base, a shaft andbearings. The bionic grippers are connected with the arm A, the arm A and the arm B are connected through the shaft, the bearings sleeve the shaft, and therefore the rotation of the arm A and the armB is achieved. The driving joint stress wheel is fixed to the shaft end of the arm A, the other end of the arm B is fixed to the pneumatic muscle mounting base, one end of the joint driving pneumaticmuscle A and one end of the joint driving pneumatic muscle B are fixed to the pneumatic muscle mounting base and are parallel to the arm B, and the other end of the joint driving pneumatic muscle A and the other end of the joint driving pneumatic muscle B are connected through the joint driving steel wire rope. According to the robot, the limitation of a motor and a speed reducer is gotten rid of,and compared with traditional primate bionic robots, the self-weight of the robot is greatly reduced.