Soft robot mainly uses soft actuators to achieve the required movement.Therefore,the research of soft actuator plays a vital role in the development of soft robot.Based on the bellows structure,a soft actuator with good motion performance was manufactured by 3D printing,and the influence of its main structural parameters on the motion performance of the soft actuator was analyzed by finite element analysis software.Finally,the motion performance of the soft actuator was tested by the experimental platform.The experimental results show that the elongation of the soft actuator can reach 60 mm and the bending angle can reach 75°,which proves that the designed soft actuator has good motion performance.