The invention discloses a pneumatic balance boosting manipulator for clamping a cylinder. The pneumatic balance boosting manipulator comprises a control mechanism, a clamp assembly and a pneumatic mechanism of the clamp assembly, wherein the clamp assembly is driven by the control mechanism; and the control mechanism can be used for driving a clamp to move in vertical direction, left-right direction and back and forth direction and can revolve in the horizontal plane. According to the pneumatic balance boosting manipulator, spatial posture turnover and movement of a cylinder workpiece can be realized, the cylinder can be conveyed and assembled in a labor saving way, the labor intensity of workers is reduced, the working efficiency is increased, and the aim of automatic production is fulfilled; and the clamp is provided with a travel switch, so that clamping action can be realized only when the workpiece is contacted in place, and the safety for operation of the mechanism is effectively improved. The pneumatic balance boosting manipulator is suitable for automatic clamping operation of the cylinder in a cylinder production step of an automobile production line.