Pneumatic grippers, integral components in the field of robotics, are known for their adaptability and safety in handling delicate and varied objects, particularly in unstructured environments. Such devices employ compressed air to actuate, offering a compliant yet effective gripping mechanism that contrasts sharply with the rigidity of traditional robotic grippers. This study introduces an innovative design and optimization of two-degrees-of-freedom (2-DOF) soft pneumatic grippers, focusing on the manipulation of geometrical parameters to enhance deflection capabilities. Employing advanced simulation techniques, including finite element analysis (FEA) and artificial neural networks, this research investigates the impact of varying the angle of teeth (β), among other parameters, on the performance of soft pneumatic actuators. The angle of teeth is systematically varied from 0˚ to 15˚ in increments of 5˚, providing insights into the actuator's flexibility and response to applied pressures ranging from 110 kPa to 190 kPa. The manuscript details the utilization of the ANSYS software package to model and analyze the deflections along the X and Y axes, stress levels, and elastic strain under varying operational conditions.