Abstract: A three-finger manipulator with a Kresling and Miura hybrid origami crease is proposed, which has large grasping range, simple structure and high flexibility. Firstly, geometrical analysis on the Kresling origami crease is performed, and the relation equation between the parameters and the strain energy of the Kresling origami crease is established. The equation between the moment and the knuckle length-width ratio of the multilayer Miura origami element is established by the coordinate method. Then, the mathematical model of the relationship among the parameters of the hybrid element is established by using the principle of virtual work, and the distribution of the end points is calculated by using the D-H (Denavit-Hartenberg) coordinate method to determine the workspace of the manipulator. The method of torque balance is used to analyze the situations that the manipulator grasps the cylinder and cuboid objects in fingertip manner and in envelope manner respectively, and the relation between the contact forces and the joint angles is derived.