This　study　presents　a　novel　four-degrees-of-freedom　parallel　gripper　with　potential　application　to　industrial　automation.　The　gripper　adopts　a　parallel　grasping　mode　on　objects　and　can　independently　complete　in-plane　horizontal　and　vertical　motions　and　in-hand　twisting　motion.　Kinematic　and　dynamic　models　of　the　gripper-object　system　are　developed.　The　controllable　internal　force　acting　on　the　object　is　calculated　to　obtain　the　minimum　driving　force/torque.　An　energy-based　manipulability　index　is　developed　on　the　basis　of　the　derived　solutions.　The　numerical　simulation　includes　a　comparison　between　the　MATLAB　model　and　the　ADAMS　model　to　verify　the　motion　forms　of　the　parallel　gripper　and　the　rationality　of　analytical　modeling　studies.　Manipulability　performance　is　evaluated　along　the　transportation　path　of　the　object.　Results　indicate　that　the　gripper　can　achieve　horizontal　transmission　to　supplement　the　workspace　of　a　robotic　arm,　and　it　exhibits　relatively　better　performance　in　in-hand　manipulation　and　in-plane　vertical　transmission.