The invention provides an air balanced manipulator and an air control system of the manipulator, which comprises a base, a pillar, a rotator, an operating arm and a fixture. The manipulator also comprises a main cylinder, a brake cylinder, a rotary joint, parallel four connecting rods of organizations, a rotary arm, a dead point braking mechanism and a pneumatic control system. The air control system comprises a gas source, an airway, a vacuum switch and a vacuum generator. The manipulator can balance the carried articles at any position of the movable and solid space and meet the demand of accurate and rapid assembly, with a portable and free operation. The air control system can control the movement of the manipulator by controlling the movement of the main cylinder and the brake cylinder, ensure that the manipulator does not drop to pose a risk when the gas source stops supplying gas for accidents and avoid that the carried articles drop for misoperation, thereby ensuring the safety of operators and products in maximum.