A space soft capture robot composed of pneumatic self-folding manipulators and pneumatic joints was presented. The initial structural configuration of the pneumatic self-folding manipulators was designed based on the origami theory. The driving mechanism and load performance of the pneumatic self-folding manipulators were investigated. The inflated drive tests of the pneumatic manipulators were conducted and the pressure-elongation curves were obtained. The large deformations and stress/strain distributions of the manipulators were analyzed based on the nonlinear finite element method. Results show that the curves of both the inflated stage and the exhaust stage are nonlinear, and the hysteresis curves are obvious in the whole driving process. Thus, the driving mechanisms of inflated expansion and exhaust self-folding can be verified. The load performances of the pneumatic manipulators were evaluated by load performance test and simulation analysis. As the design pressure increases, the tensile load capacity decreases and the area of hysteresis cycle increases, while the compressive load capacity increases and the area of hysteresis cycle decreases. The pneumatic self-folding manipulators provide technical supports for the realization of space soft capture robots.