Biological organisms usually achieve multifunctionality and complex structures through modular combinations. Currentpneumatic soft actuator research predominantly isolates linear and bending actuator designs, although there have been lots ofpneumatic bending actuators, most of which are based on FEA (fluid elastomer actuation). Fewer studies focus on the PPAMs-based bending configurations, achieving bending actuation through the folding and unfolding of pleats. To address the challengeof achieving multifunctionality without compromising lightweight and flexible attributes, this study introduces two innovativePPAMs-based soft actuators, the honeycomb-inspired linear actuator (HLA) and bending actuator (HBA), drawing structuralinspiration from honeycomb geometry. Both of the actuator units can be designed through a similar set of structural parameters.Furthermore, these actuators can be freely combined by modeling for the achievement of versatile structures. HLA demonstratesa deformation rate of 27.67%, while HBA achieves a 37◦ bending angle under negative pressure. By selecting suitable materials,modular-designed structures composed of several HBA or HLA units show excellent load-bearing performance (29.2 times theirown weight) and bionic characteristics (mimicking the gestures of the human arm). Finally, we validate their integration intodiverse soft robotic systems, including swimming, grasping, and crawling platforms, highlighting their multi-functionality andpotential for advancing soft robotics