Soft robotics has recently gained attention for its distinctive characteristics that set it apart from traditional rigid robots. With exceptional scalability, high impact resistance, adaptability to extreme conditions, virtually limitless degrees of freedom, and a stiffness akin to human tissue, soft robots emerge as prime contenders in fields like biomedicine and operations in challenging environments. Pneumatic actuation is commonly used in soft robots due to its low cost and mass, fast response time, and easy implementation, allowing for the execution of intricate, designated tasks. Yet once their structural design is finalized, they're limited to a specific actuation mode. Grippers are a common application of pneumatic soft robots that have received considerable attention due to their controllable force and minimal risk of causing damage to the target. Common functions of the gripper include inward grabbing and outward support by the robotic hand, as well as the extension, retraction, and rotational movement of the robotic arm attached to the gripper, which can all be generated by the McKibben Pneumatic Actuator. By assembling the modular McKibben Pneumatic actuators, a multifunctional modular pneumatic gripper can be created. This saves time, materials, and money compared to preparing grippers that can only perform specific tasks.