In order to effectively suppress the vibration of flexible translating manipulators,a rod cylinder-based pneumatic driving scheme is proposed,which suppress the vibration by controlling the motion of piston rod via the pulse code modulation（PCM） method.Then,the pneumatic circuit is constructed,and the system model of the flexible manipulator with pneumatic driving is established.Moreover,based on the closed-loop equation analysis of the control algorithm,the feasibility of simultaneous slide positioning and vibration suppression is analyzed.Finally,an experimental setup of the flexible translating manipulator with pneumatic driving is proposed and is used to perform an active vibration control experiment.The results demonstrate that the proposed scheme effectively suppresses the low-frequency mode vibration of flexible manipulators and implements the pneumatic positioning simultaneously.