<p>Grasping is a fundamental way that creatures interact with their environments and is also a key field of interest in soft robotics. Pneumatic network actuators are particularly promising candidates for the soft robotics community. However, most soft pneumatic grippers based on pneumatic network actuators can only realize a single grasping mode, with poor adaptability and dexterity in grasping objects. Therefore, a new misaligned parallel-chamber soft pneumatic actuator was presented, which mainly consists of soft chambers embedded in an elastomer structure. Then, theoretical models describing the bending deformation and three-dimensional trajectory curve of the proposed actuator were developed using the segmental constant curvature assumption and incorporating the Yeoh model. In addition, finite element simulations of the bending deformation were performed and verified experimentally. Finally, three soft grippers with different gripping modes, namely, winding, enveloping, and pinching, were designed, and gripping experiments were conducted. The results show that the designed soft gripper demonstrates good adaptability and flexibility to the target object, expanding the application range of pneumatic soft grippers in the field of picking objects. The proposed soft actuator provides a potential method for the design of a multifunctional soft gripper.</p>