Abstract: According to the requirement of in-orbit capture of debris and spacecraft, a sort of pneumatic soft actuator is designed and fabricated with two kinds of silicone rubbers, namely, PDMS and E30. With the mass ratio of the curing agent, and the temperature and the duration for the curing process being adjusted, the Young’s modulus of PDMS and E30 samples is measured for different processing parameters. The interfacial morphology and the tensile property of E30/PDMS/E30 sandwiched sample obtained with different curing sequences are also determined. The composite with the optimized curing procedure exhibits a high tensile strength and a large elongation at break as 460%, due to the transition region formed at the interface. Under the air pressure of 58 500 Pa, the actuator curls up with an average angular velocity of 0.4 rad/s, and a maximum value of 0.8 rad/s. The results provide some guidance for the subsequent control of the pneumatic soft actuator for capturing space objects.