In　this　paper,　a　flexible　microrobot　actuated　by　acoustic　wave　is　proposed.　The　microrobot　has　two　flexible　sharp　tails,　the　flexible　sharp　tails　oscillate　actuated　with　an　external　acoustic　field　and　thus　generates　acoustically　streaming　to　drive　the　microrobot.　By　adjusting　the　actuated　frequency　of　acoustic　waves,　the　motion　direction　of　the　microrobot　can　be　regulated.　The　simulation　model　of　the　microrobot　is　established　with　software　of　COMSOL　Multiphysics　6.0,　the　characteristic　modes　of　the　microrobot　are　analysed　and　its　reference　actuated　frequency　are　obtained.　In　addition,　the　acoustic　actuated　microrobot　simulation　model　is　established　to　analyse　the　relationship　between　the　acoustic　wave　actuated　frequency　and　the　harmonic　displacement　and　normal　acceleration　of　the　microrobot.　Taking　the　reference　actuated　frequency　as　the　datum　frequency,　the　acoustic　actuated　frequencies　of　the　left　turning,　the　right　turning　and　the　approximate　linear　motion　modes　of　the　microrobot　are　optimally　obtained.　Copyright　©　2023　Inderscience　Enterprises　Ltd.