To solve the problem of low safety and poor adaptability of rigid robots, design a soft robot with grasping function, a soft robot with grasping function was designed. The soft robot consists of three soft body actuators distributed at 120 degrees around the circumference and a fixture, which can change the diameter automatically to adapt to the grasping of objects of different sizes, and it is measured that the soft robot can grasp objects with a diameter range of 45 ~ 97 mm. Both the fixture and the soft actuator are manufactured by 3D printing, which has the advantages of low cost, simple manufacturing, and easy mass production. The soft robot is driven by pneumatic pressure, and when the actuator is inflated, three fingers bend simultaneously to grasp the object with good stability. The corresponding mechanical model was established for the soft body actuator, and the relationship between the bending angle and the input air pressure was obtained, and the bending characteristics of the actuator were simulated by using ABAQUS finite element simulation software. In comparison, it is found that the theoretical modeling and simulation analysis have a high agreement in the bending angle of the actuator.