Jellyfishes are distributed in a wide range of depths in the ocean. After hundreds of millions of years of evolution，they have strong environmental adaptability. In this paper，a structure of soft jellyfish-like robot is proposed. Fast liquid network（FLN）is used to construct the actuator of the robot，and an electric push rod is used to realize the outside umbrella swing of the soft jellyfish-like robot. In this paper. The general structure model of the soft jellyfish-like robot is proposed. The new design has a fully enclosed structure. It is suitable for independent operation and operation in deep water environment. The structural parameters（dimensions of the chamber and the actuator）of the robot are optimized based on Yeoh model. The precision machining die is used to realize the fabrication of the soft structure. The steel sheet spring is used to strengthen the structure. The system integration of the model is realized through the connection of each component. The autonomous underwater floating motion of the soft jellyfish-like robot is realized in the experiment. This proves that the scheme is feasible.
