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However, conventional grippers lack cross\u2010scale grasping capabilities. This study presents a novel single\u2010pump\u2010actuated transformable dual\u2010mode gripper (SATDG) that combines vacuum suction and granular jamming to effectively grasp objects ranging from 10 to 300\u2009mm in size, covering a vast 30\u2010fold range, with forces from 0.5 to 21\u2009N. Using a bistable mechanism and origami structure, the SATDG can transform between two modes and activate them with one pressure source. Subsequently, a finite\u2010element analysis of the characteristics of the bistable frame and the origami structure is presented. The performances of both grasping modes of the SATDG are validated. 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