C229　manipulators　have　higher　flexibility　and　the　capacity　of　obstacle　avoidance,　the　current　research　is　focusing　on　the　more　ingenious　structural　designs　and　more　driving　methods,　but　seldom　investigates　the　stiffness　controlling　to　improve　the　loading　capacity　of　manipulators.　In　this　paper,　a　structure　of　stiffness　regulator　is　designed　to　regulate　the　stiffness　of　continuum　manipulator,　it　consist　of　gasbags　and　flexible　shells.　The　flexible　shell　is　processed　by　3D　printing,　this　research　also　analyze　the　failure　reasons　during　printing　process.　For　improving　the　effect　of　3D-printing,　recompiling　the　G-Code　can　decrease　the　ratio　of　inadhesion.　Finally,　the　optimized　effect　of　3D　printing　and　the　effect　of　stiffness　regulation　are　shown,　it　proves　the　effectiveness　of　designed　structure.　©　2018　IEEE.