A pneumatic flexible vigorous grasping device based on an entwining principle mainly comprises a flexible holder, a pneumatic muscle actuator, a flexible sleeve, a connecting seat, a clamp, an air pipe and a fixing piece. According to the pneumatic flexible vigorous grasping device based on the entwining principle, a basic grasping principle simulates hunting modes, such as the situation that preyis tightly entwined through body contracting and curling of a boa, of entwining animals. A woven mesh reinforced-type pneumatic muscle actuator spiral entwining structure simulates the prey entwiningprocess of the entwining animals, and tightening and loosening of an inner cavity of the grasping device are achieved through the inflating and deflating processes, so that the grasping and releasingwork is completed by cooperating with a robot. A grasping part main body is made of flexible materials of silica gel, latex tubes and fibers, and grasped objects and people are safe; the pneumatic flexible vigorous grasping device can be manufactured through modular design, few parts and simple assembly operation, and maintenance and replacement are convenient; and grasping force is large, flexibility is good, the objects of various shapes can be grasped within the grasping size range of the pneumatic flexible vigorous grasping device, and the application range is wide.