Soft　fluid　actuators　consisting　of　the　flexible　materials　are　of　particular　interest　to　the　robotics　field　because　of　the　low　cost　and　the　potential　applications,　which　can　be　easily　customized　to　a　given　devices.　However,　the　great　potential　of　such　actuators　is　currently　limited　due　to　that　their　designs　are　mostly　based　on　experience.　In　this　paper,　we　designed　and　manufactured　a　fiber-reinforced　soft　pneumatic　actuator.　Through　ingenious　design,　the　actuator　can　produce　bending　movement　under　low　pressure,　which　has　simple　structure,　convenient　fabrication　and　low　cost.　This　paper　provides　a　finite-element　method　(FEM)　model　for　the　bending　of　the　fiber-reinforced　soft　pneumatic　actuator　in　the　free　space,　which　can　present　a　more　realistic　description　of　the　nonlinear　response　of　the　system.　With　the　FEM　model,　the　deformation　and　stress　of　the　soft　actuators　can　be　visualized　readily,　leading　to　a　better　understanding　about　the　influence　of　geometric　parameters,　input　air　pressure　and　material　selection　on　bending　angel　performance.　Finally,　corresponding　experiments　have　also　been　taken,　successfully　demonstrating　the　validity　of　the　FEM　model.　©　2019,　Springer　Nature　Switzerland　AG.