In order to get rid of the constraints of cables and tubes, an unconstrained self-supplying soft actuator was designed in which a micro-pump air pump was integrated into the soft actuator. The actuator could bend by reciprocating air supply circularly, without need for external air source. The structure design and craftsmanship of unconstrained self-supplied soft actuator were investigated and a prototype was made as well. The theoretical models were established to predict the pressure of micropump and deformation of actuator, and relevant experiments were carried out to verify them. The dynamic performance of the micropump and the bending deformation rules of the actuator under the pressure of the micropump were obtained.The results show that the soft effector can bend autonomously, unconstrainedly and independently, the bending angle of the actuator can reach 120° under air pressure 0.22 MPa provided by the micro-pump.