Conductive polypyrrole is a kind of conductive polymer, which belongs to composite intelligent driving materials. The actuator based on Ppy has the advantages of low driving voltage, large output displacement, high flexibility, and so on, and has broad application in the field of bionic robots and micro actuators. It is essential to know the actuator‘s behavior from experiments. In this paper, the application of conductive Polypyrrole in actuators was researched and simulated. Single PPy actuator was tested by loading different numbers of magnet balls. The test results showed that the output force of the single conductive polypyrrole is greater than 0.4712mN. In order to improve its application ability, a four-claw gripper that integrates four PPy actuators was designed and tested, the experiment shows that the output force of the gripper is greater than 0.298mN.