This paper presents the design, manufacturing, and open-loop control of a soft pneumatic arm called PAUL, featuring five degrees of freedom. The robot consists of three modular segments, each with three degrees of freedom, enabling motion across three spatial dimensions. The segments are made of silicone and are constructed using a wax-casting method with 3D-printed PLA molds. Bladder-like structures are formed using solidified paraffin wax. The control system uses an empirically fine-tuned open-loop approach, relying on a table that correlates valve opening times with the final positions of the manipulator. This system allows for reasonably accurate modeling of both direct and inverse kinematics of the robot, even without precise theoretical models. The PAUL robot is designed to carry light loads without increasing its precision error. The workspace and bending capacity of the robot are analyzed, along with its control precision with and without external payloads. The robot's design includes a trihedron for position and orientation tracking, and a vision system based on color identification. The pneumatic actuation bench is used to control the flow of compressed air, with 2/2 and 3/2 valves placed in series to allow up to 12 degrees of freedom. The valves are operated via 24 V voltage signals, with a MOSFET switch managing them. An Arduino Due is used as the bench controller. The data acquisition system uses two cameras and a calibration grid to capture the position and orientation of the robot's end-effector. The vision system includes a trihedron with three spheres, each embedded with LED diodes, allowing for the determination of the robot's position and orientation. The data collected is used to generate a table-based model for open-loop control, where the position and orientation of the end-effector are determined based on the inflation times of the bladders. The model uses a lookup table to find the closest inflation times in the dataset and calculates the position and orientation based on the weighted average of the closest values. The results show that the PAUL robot can reach various positions and has a workspace of approximately 200 × 200 × 100 mm. The performance of the table-based models is validated by comparing the positions reached by the robot with those predicted by the model. The average time per point is 6.76 seconds, with a standard deviation of 0.63 seconds, indicating the effectiveness of the automated method. The robot's design and control system demonstrate the potential of soft pneumatic robots in applications requiring flexibility and adaptability.This paper presents the design, manufacturing, and open-loop control of a soft pneumatic arm called PAUL, featuring five degrees of freedom. The robot consists of three modular segments, each with three degrees of freedom, enabling motion across three spatial dimensions. The segments are made of silicone and are constructed using a wax-casting method with 3D-printed PLA molds. Bladder-like structures are formed using solidified paraffin wax. The control system uses an empirically fine-tuned open-loop approach, relying on a table that correlates valve opening times with the final positions of the manipulator. This system allows for reasonably accurate modeling of both direct and inverse kinematics of the robot, even without precise theoretical models. The PAUL robot is designed to carry light loads without increasing its precision error. The workspace and bending capacity of the robot are analyzed, along with its control precision with and without external payloads. The robot's design includes a trihedron for position and orientation tracking, and a vision system based on color identification. The pneumatic actuation bench is used to control the flow of compressed air, with 2/2 and 3/2 valves placed in series to allow up to 12 degrees of freedom. The valves are operated via 24 V voltage signals, with a MOSFET switch managing them. An Arduino Due is used as the bench controller. The data acquisition system uses two cameras and a calibration grid to capture the position and orientation of the robot's end-effector. The vision system includes a trihedron with three spheres, each embedded with LED diodes, allowing for the determination of the robot's position and orientation. The data collected is used to generate a table-based model for open-loop control, where the position and orientation of the end-effector are determined based on the inflation times of the bladders. The model uses a lookup table to find the closest inflation times in the dataset and calculates the position and orientation based on the weighted average of the closest values. The results show that the PAUL robot can reach various positions and has a workspace of approximately 200 × 200 × 100 mm. The performance of the table-based models is validated by comparing the positions reached by the robot with those predicted by the model. The average time per point is 6.76 seconds, with a standard deviation of 0.63 seconds, indicating the effectiveness of the automated method. The robot's design and control system demonstrate the potential of soft pneumatic robots in applications requiring flexibility and adaptability.