Polyacrylonitrile (PAN) nanofibers, which are pH-sensitive and exhibit soft actuation as a linear actuator and artificial muscles, were prepared by electrospinning to investigate the effect of viscosity on the morphology of PAN fibers. Experimental results revealed that higher viscosity is critical for the formation of unbeaded nanofibers because surface tension is almost constant throughout the experiment. Uniform, smooth, and continuous fibers with diameters of about 700 nm were achieved for the 10 wt% PAN fibers at a flow rate of 0.5 mL/h and an electric field of 0.875 kV/cm.