Robot systems became standard part of today technology. They have wide applications in different industries and they can do work which is not suitable for humans. While they have ability to do that kind of work, they are also very fast, precise and have high repeatability. All those characteristics sound very appealing, but these systems in general are very expensive and can’t be used in all kind of environments. Because of that reason new researches and development of new kind of robot systems started which could replace conventional robots in these specific cases. One of solutions are self-assembling origami robots. These robots can be cheaply produced out of wide variety of materials and their one construction condition is to be bendable. Function of these self-assembly robots will be done with negative pressure which is very convenient way to actuate because it’s safe for use. With simple design it is possible to get multidimensional movement and gain very high power to weight ratio. This master thesis will show development of origami artificial muscle and origami gripper. First step will be construction and simulation of models in VoxCAD and PyBullet. After simulations are complete for desired models, we’ll construct physical prototype of both models and start their production. Production technology will be 3D printing. At the end we’ll compare both simulations with physical prototype and give conclusion.