Soft robotic grippers are gaining a wide range of applications in the food industry, agriculture, biomedical engineering, and other fields due to their versatile nature, which enables safe handling of delicate, fragile, and tender objects with greater flexibility, thereby avoiding damage to them. Its compliant nature offers a safe solution to grasp these objects securely; however, precise control over the gripping force and the deformation of the gripper remains challenging and requires novel solutions. In this work, we propose a soft gripper that utilizes flexoelectric effects. Flexoelectricity is one of the novel and promising phenomena where strain gradients are responsible for electric polarization. Unlike piezoelectricity, which is limited to a specific type of dielectric, flexoelectricity can exist in all dielectric materials and becomes significant at large deformations and small scales, thereby making it more suitable for soft robotics. Utilizing this effect in the field of soft robotics avoids any external feedback system and provides real-time feedback to get precise control over the gripping force and deformation of the gripper, which could result in the enhancement of the efficiency and adaptability of the gripper. Apart from this, it will enable soft robots to be applicable in soft handling, space technology, and biomedical industries, making them a better alternative than conventional robotics systems. Current work utilises the theory of intrinsically curved nonlinear rods with the flexoelectric effect and develops a mathematical model to analyse the behaviour of the soft robotic gripper, including the required gripping force and frictional force. Moreover, a numerical technique has been employed to solve the boundary value problem with a constraint that ensures the existence of the gripping force, and the electric field has been determined accordingly. The primary objective of this work is to analyse the behaviour of the gripper with a non-zero pre-flexural strain, and to predict the gripping force by measuring the electric fields generated during grasping.