This study explores the design and performance of origami robotic grippers fabricated through hard-soft coupled multimaterial three-dimensional (3D) printing. We evaluate the impact of design parameters on the kinematic behavior and mechanical functionality of the gripper. A kinematic model is employed to characterize the reachable workspace and motion capabilities, revealing that variations in geometric parameters significantly influence the origami gripper's performance. Furthermore, we explore the mechanical properties of the gripper by manipulating parameters such as soft hinge thickness and crease design, establishing a comprehensive relationship between geometric design and mechanical response. Experimental evaluations demonstrate the interplay between bending angle, force-displacement characteristics, and stiffness in the origami grippers. This research contributes to the optimization of origami-inspired robotic structures, highlighting the potential of multimaterial 3D printing techniques in developing flexible, adaptive, and efficient robotic applications.