Abstract: Existing bistable grippers usually have only one single working mode of grasping, locking and releasing the target object, which limits the flexibility of their applications. For this reason, a rigid-flexible coupling multimodal gripper based on an adjustable bistable mechanism is proposed in this paper. The gripping surface of the gripper is an elastic band, which can be passively adapted to different shapes of the grasped objects by wrapping them. The finger skeleton supporting the gripping surface is an adjustable bistable mechanism consisting of rigid connecting rods, which store energy through an elastic ring. The gripper also has an active cord with clutch control for energy regulation of the elastic band. By coordinating the control of the bistable mechanism and the active rope to regulate the energy of the gripper, different operating modes can be implemented, such as triggered jump closure, controlled grasping and object ejection. An analytical model of the trigger force of the gripper is established, the design parameters are analyzed through kinetic simulation and experiment, and the stiffness and free length of the elastic element are optimally selected. The prototype experiments are carried out in different operating modes, and the experimental results show that the adjustable range of the trigger force from the initial state to the triggering state is 0.1~1.1 N, and a cylinder of 30 mm diameter and 10 g can be ejected 3.35 m in horizontal direction.