The design of soft grippers is one of the most classic problems in the design and application of robots . Researchers have provided mature and complete solutions to the design problem of grippers in recent years, such as using bionics for design, mathematical modeling for simulation analysis of gripper performance. Shape and topology optimization is an effective tool for solving optimal material layout in a given field, widely used in various structural design problems, and can also be used in the structural design of flexible grippers. Compared to mature solutions with fixed force inputs, optimization tasks related to design related pressure loads remain a challenge. This article proposes a shape and topology optimization method for describing the motion pressure boundary using B-spline curves. Topological optimization is performed on the boundary shape and structure, and this method is combined to complete the design of aerodynamic compliant grippers. The design results of the clamping mechanism were post-processed and explored through pneumatic experiments to verify the feasibility of topology optimization for structural design.