A pneumatic flexible wrist has been developed using an elongated actuator and a spherical brake. Using the method of statics experiments, the relationship between the rotation angle of the wrist end cap and the air pressure is analyzed. When the air pressure value is 0.34 MPa, the rotation angle of the wrist end cap is 41°. Using a combination of theory and experiment, the mechanical characteristics of the wrist brake are analyzed. When the air pressure value is 0.4MPa, the axial thrust of the brake airbag is 107N, and the wrist braking torque equation is obtained.