Fiber composite materials balance strength and mass criteria. Current practices rely on multi-stage manual operations for hand layup solutions. Alternative methods need to be developed to enable effective automation to be introduced in industrial domains. Specialty flexible grippers have been designed for dry, limp material gripping leveraging origami principles, and in this research, the proposed robotics systems integrated is presented. Design guidelines are presented along with solutions for gripping and wrinkle elimination. Modular experimental validation activities were performed for the grippers, different mold surfaces, and a prototype bladder based strategy for smoothing out the positioned material. The findings of the research pave the way for rapid, efficient, mechanically simple, and cost-effective, integration of origami based compliant mechanisms in fabric composite manufacturing settings.