Abstract: The design of a modular soft robot based on dual-material 3D printing technology is presented, to enhance the performance of modular actuators and the overall adaptability of the robot. By utilizing dual-material printing technology,the actuators are divided into strain-limiting layers and expansion layers, which optimizes the actuator structure to improve the output performance and service life while enhancing the motion accuracy and reliability. Based on this technology, a modular robotic system with multiple motion modes is designed, allowing for the flexible replacement of actuator modules according to task requirements, thereby effectively improving the mobility and functional diversity of the robot. Experimental results show that the dual-material printing technology not only improves the actuator performance, but also provides a new solution for the adaptability and task execution of modular soft robots in various application scenarios. This work offers new ideas for the design and manufacturing of modular soft robots, with significant implications for performance optimization and multifunctional task execution.