This paper presents a bioinspired soft self-contained gripper for UAV manipulation, inspired by tendril plants. The gripper is voltage-driven and uses winding deformation for self-adaptive grasping. Two types of U-shaped soft eccentric circular tube actuators (UCTAs) are designed: one with a smooth surface (tendril climbers) and one with surface structures (hook climbers). These UCTAs are filled with low-boiling point liquid and soft resistance wires, enabling voltage-driven actuation. When voltage is applied, the liquid undergoes a phase transition from liquid to gas, generating high pressure and causing the UCTAs to deform. This mechanism eliminates the need for bulky pneumatic pumps, making the gripper lightweight and self-contained. The two types of grippers can grasp objects of different sizes and shapes, with the smooth-surfaced gripper suitable for delicate grasping and the surface-structured gripper suitable for strong grasping. The grippers are ideal for UAVs due to their self-adaptability, ease of control, and lightweight design. The grippers have been tested in various environments, including ground, tree branches, and lakes, demonstrating their ability to grasp objects without precise positioning or complex grasping planning. The grippers also allow UAVs to collaborate in lifting objects. The soft self-contained grippers offer advantages over existing rigid and soft grippers, including lightweight design, no need for sensors or accurate models, and dual-mode grasping capabilities. The grippers have been tested in outdoor environments, including garbage cleanup in water and cooperative UAV transportation. The study highlights the potential of soft robotics for UAV manipulation, with the proposed grippers enabling powerful manipulation with low positioning accuracy, no complex grasping planning, self-adaptability, and multiple environments.This paper presents a bioinspired soft self-contained gripper for UAV manipulation, inspired by tendril plants. The gripper is voltage-driven and uses winding deformation for self-adaptive grasping. Two types of U-shaped soft eccentric circular tube actuators (UCTAs) are designed: one with a smooth surface (tendril climbers) and one with surface structures (hook climbers). These UCTAs are filled with low-boiling point liquid and soft resistance wires, enabling voltage-driven actuation. When voltage is applied, the liquid undergoes a phase transition from liquid to gas, generating high pressure and causing the UCTAs to deform. This mechanism eliminates the need for bulky pneumatic pumps, making the gripper lightweight and self-contained. The two types of grippers can grasp objects of different sizes and shapes, with the smooth-surfaced gripper suitable for delicate grasping and the surface-structured gripper suitable for strong grasping. The grippers are ideal for UAVs due to their self-adaptability, ease of control, and lightweight design. The grippers have been tested in various environments, including ground, tree branches, and lakes, demonstrating their ability to grasp objects without precise positioning or complex grasping planning. The grippers also allow UAVs to collaborate in lifting objects. The soft self-contained grippers offer advantages over existing rigid and soft grippers, including lightweight design, no need for sensors or accurate models, and dual-mode grasping capabilities. The grippers have been tested in outdoor environments, including garbage cleanup in water and cooperative UAV transportation. The study highlights the potential of soft robotics for UAV manipulation, with the proposed grippers enabling powerful manipulation with low positioning accuracy, no complex grasping planning, self-adaptability, and multiple environments.