Robots have a profound impact on human production and life, which have been developed by leaps and bounds in recent decades. The original robot is large and requires a wired power supply to drive, whose working space and functions are limited. As the higher and higher requirements for operations in complex environments, researchers continue to develop wireless driven miniature robots. In this paper, the ratio and deformation properties of PNIPAM and PEGDA hydrogels were researched, and the microcrawls and microgrippers with 3D structure were prepared. They have light stimulus response and magnetic response characteristics, and can be reversibly transformed from 3D to two-dimensional structure to complete crawling and transportation functions. Highlights: 1. PNIPAM-PEGDA bilayer structure with photo-magnetic response was prepared based on secondary curing technology. 2. The optimal ratio and thickness of PNIPAM hydrogel were studied. 3. Crawler and gripper were made based on the bilayer structure for transport.