At present, most exoskeleton robots use rigid devices such as motors and rigid links as actuators, but their comfort is low. In contrast, flexible exoskeleton robots made of pneumatic silicone actuators and artificial muscles have the characteristics of high flexibility, strong environmental adaptability, strong compatibility and versatility, and have become the trend of exoskeleton development. The difference between exoskeleton robots is the difference between actuators. At present, it mainly includes flexible actuators (silicone, memory alloy, etc.) and rigid actuators (motors, etc.). Flexible actuators have many potential benefits over rigid actuators, including safer human-computer interaction, diversity of behaviors and adaptability to unstructured environments. This paper will use 3D printing technology to make mold, design and manufacture flexible actuator, and carry out modeling and simulation. Using the actuator can participate in the design and manufacture of flexible robot, and the prospect is bright.