A new type of end-effector was developed based on flexible pneumatic actuator (FPA), which was designed as a bending joint. The mathematical model of bending joints and end-effector was established with mechanical analysis method, the relationship between pressure and bending capacity, as well as the relationship between pressure and output bending force was analyzed. The mathematical model for end-effector of crawling apple was built. The experimental results show that the force of the end-effector is quite strong and the actuator can grasp apples perfectly and flexibly. 