Servo pneumatics is a mechatronic approach that enables accurate position control of pneumatic drives with high speed. In this paper, a new method of position manipulator with two interconnected pneumatic cylinders is presented. Nonlinear mathematical model of the system comprising of mass flow rate, pressure dynamics, frictional forces and motion dynamics has been formulated. Using Matlab-Simulink software the system is simulated. The size parameters are optimized using Taguchi method for minimization of settling time. It is found that the area of the cylinders have more significance in efficient positioning of the system than length of the cylinders.