In order to solve the problem of weak adaptability of traditional fixtures, a software fixture made of thermoplastic polyurethane elastomer was designed. The material has good low temperature flexibility and high strength, so the software fixture can achieve a good fit with the surface of the object. The design of the software fixture was completed through SolidWorks, the adaptability of the gripper was analyzed in ABAQUS, and the deformation and stress caused by the gripper gripping different objects were calculated. Through the bending angle test and the end contact force test, the appropriate jaw length was selected, and the software fixture was made through 3D printing. The weight test and grasping test were carried out on the Baxter robot. The results show that the software fixture can grasp daily necessities effectively, stably and without damage.