This　paper　presents　a　novel　design　for　a　robotic　end-effector.　In　particular,　the　design　features　a　4-DOF　parallel　gripper　potential　of　applying　for　industrial　automation.　This　gripper　mainly　consists　of　two　parallelogram　mechanisms　and　two　grasp　sliders,　which　can　perform　in-hand　twisting　action　(in-hand　manipulation)　and　in-plane　horizontal　and　vertical　transmission.　Moreover,　the　proposed　gripper　adopts　parallel　grasping　mode　and　can　provide　stable　ability　to　maintain　force　closure　on　an　object　with　large　ranges　of　size.　The　kinematic　analysis　which　includes　position　solution　and　velocity　solution　is　derived.　The　velocity　manipulability　that　possesses　the　physical　significance　of　energy　transfer　efficiency　is　defined.　A　numerical　example　is　presented　to　evaluate　the　performance　of　the　gripper.　The　results　indicate　that　the　gripper　can　achieve　horizontal　transmission　to　supplement　the　workspace　of　the　robot　arm,　and　possess　relatively　better　performance　on　in-hand　manipulation　and　in-plane　vertical　transmission.　©　2020　ACM.