This paper deals with the design and fabrication of an adjustable, two fingers flexible miniature gripper based on porous magnetorheological nanocomposites having the adjustability of pre-openings of the jaw’s tips and its operational study in according to the performance. The fabricated gripper holds the small size and lightweight objects, maintain them and release them as required upon reducing the electrical current. The magnetic analysis has done and magnetic simulation has conducted using Vizimag software. The lead, condensed papers, foams and silicon wafer sheets were used as under experiments materials and it has been noticed that it is working properly to grip the things which has rough surfaces at all. For a greater objects, it can be adjusted through its tips as well. In this scheme, the magnetic actuation has been used because the magnetorheological nanocomposites is the most sensitive materials against the magnetic field. This type of grippers includes the simple montage, lower fabrication prices and owns lower volume as well as weight, and there will be no need to apply the classic mechanical linkage inside. This type of grippers are recommended for applications in the fields of the micro electromechanical systems, especially in the holding and transporting of sensitive work pieces against scratches, fingerprints and pressure.