The invention discloses a two-way equal-force elastic executing element and a compensation device based on the element, the executing element comprises a cylinder body
assembly, a stepped shaft-shaped pull rod, a
piston assembly, a two-way valve and a valve core, the interior of a
piston is divided into a plurality of air pressure cavities, buffering, pressure equalizing and pressure maintaining are achieved through the two-way valve, rigid
impact is reduced, and the service life is prolonged. During working, the pull rod only bears tensile force or pressure at the same moment, and bidirectional equal-
force output can be achieved under the working conditions of stretching and compressing. Based on the execution element, the invention further provides a wheel body eccentric rotation compensation device, a plane universal compensation device and a three-dimensional space universal compensation device, and passive self-adaptive compensation can be achieved in a
radial plane, a horizontal plane or a three-dimensional space. The two-way elastic acting and dynamic compensation device is diversified in structural form, stable in stress, free of motion retardation, capable of being scaled in equal proportion, adaptive to various cavity sections, wide in application range and capable of meeting the requirements for two-way elastic acting and dynamic compensation in multiple scenes.