This paper presents a novel class of soft, self-adaptive, and self-contained grippers designed for unmanned aerial vehicle (UAV) manipulation. Inspired by tendril plants, the grippers are voltage-driven and based on winding deformation for self-adaptive grasping. Two types of U-shaped soft eccentric circular tube actuators (UCTAs) are designed, using the liquid-gas phase transition mechanism to actuate them. These UCTAs are arranged in two configurations to form two types of soft grippers, which can be directly driven by voltage. One gripper, inspired by tendril climbers, is suitable for delicate grasping, while the other, inspired by hook climbers, is suitable for strong grasping. These grippers are lightweight, easy to control, and self-adaptive, making them ideal for UAV manipulation in various environments. The grippers can achieve powerful manipulation with low positioning accuracy, no complex grasping planning, and multiple environments, extending the capabilities of UAVs in object grasping tasks. The paper includes theoretical analysis, experimental results, and outdoor demonstrations, showcasing the effectiveness and versatility of the proposed grippers.This paper presents a novel class of soft, self-adaptive, and self-contained grippers designed for unmanned aerial vehicle (UAV) manipulation. Inspired by tendril plants, the grippers are voltage-driven and based on winding deformation for self-adaptive grasping. Two types of U-shaped soft eccentric circular tube actuators (UCTAs) are designed, using the liquid-gas phase transition mechanism to actuate them. These UCTAs are arranged in two configurations to form two types of soft grippers, which can be directly driven by voltage. One gripper, inspired by tendril climbers, is suitable for delicate grasping, while the other, inspired by hook climbers, is suitable for strong grasping. These grippers are lightweight, easy to control, and self-adaptive, making them ideal for UAV manipulation in various environments. The grippers can achieve powerful manipulation with low positioning accuracy, no complex grasping planning, and multiple environments, extending the capabilities of UAVs in object grasping tasks. The paper includes theoretical analysis, experimental results, and outdoor demonstrations, showcasing the effectiveness and versatility of the proposed grippers.