The　traditional　pneumatic　soft　actuator　offers　significant　advantages,　including　high　output　force　and　strong　deformation　capabilities,　making　it　widely　utilized　in　soft　robotics.　Building　on　this　foundation,　a　phase　change　drive　mechanism　addresses　the　size　and　weight　issues　associated　with　pneumatic　actuators,　but　it　also　results　in　prolonged　working　times.　In　this　paper,　we　propose　a　method　for　manufacturing　a　chamber　using　PVA　3D　printing　and　design　an　electrothermal　soft　actuator　featuring　a　double　multichamber　structure　driven　by　the　principles　of　phase　change.　The　actuator　utilizes　phase　transformation　to　generate　air　pressure,　which　enhances　the　recovery　speed　and　expands　the　working　range　through　the　antagonistic　effect.　Under　low　voltage　(＜8　V),　the　average　deformation　rate　of　the　actuator　designed　in　this　paper　is　increased　by　more　than　50%　through　the　antagonistic　effect　of　the　double　multicavity　structure,　which　effectively　improves　the　actuator＇s　overall　efficiency.　In　addition,　the　actuator　can　achieve　a　unilateral　deformation　of　18.7　mm　and　generate　a　load　output　force　of　540.7　g　while　weighing　only　15.8　g.