The automation in production increasingly requires the use of particularly flexible and efficient gripping technology. Grippers based on tensegrity-structures can contribute to this. Tensegrity-structures, characterized by their prestressed nature, are garnering increasing attention from engineers due to their advantageous properties. The scientific community is identifying an expanding array of technical applications for these systems. This paper focuses on a particularly intriguing subset: multistable tensegrity-structures. Despite their potential applications in robotic grippers, their utility has been explored only by a limited number of researchers. This work aims to enhance existing concepts and improve the robustness of the underlying mechanics. To this end, a novel approach is presented that integrates a multistable tensegrity-structure with a transmission mechanism. Detailed descriptions of the tensegrity-structure’s dimensioning and the design of the coupled mechanism are provided. The results of subsequent simulations are then presented to elucidate the functionality of the proposed gripper.