Abstract: To solve the problems of large individual difference and the difficulties in holding and positioning seedlings which are easy to be injured,this essay proposed a design scheme of force positioning gasbag gripper whose material was silicone rubber to accomplish flexible holding grafting seedlings. When the gas was admitted, the chambers expanded and pushed out the clamping wings to rotate around the center. The grafting seedling was clamped with the rotated clamping wings and the clamping arc of seedlings. On the basis of the preliminary design of the gasbag gripper,the appropriate parameters of distance from gas chamber to symmetry axis of gasbag and input pressure were further confirmed by simulation analysis. To test the effect of holding grafting seedling with gasbag gripper, the performance test of gasbag gripper whose objective function was horizontal and vertical pull out force was conducted. The results showed that, when the operation pressure of the force positioning gasbag gripper was 0. 2 MPa,for grafting seedlings with the diameter between 1. 5-3. 5 mm,the horizontal pull out force of gasbag gripper could reach 1. 0-2. 0N,and the vertical pull out force of gasbag gripper could reach 1. 0-2. 5N. The results will provide reference for further research on the positioning and clamping mechanism of feeding seedlings.