This　paper　describes　the　design　of　a　novel　multi-functional　rescue　end-effector　with　tonging,　shearing　and　grasping　capabilities　to　meet　the　demands　of　urban　catastrophe　rescue　applications.　The　tonging　and　shearing　form　and　the　grasping　form　of　the　end-effector　are　analysed.　The　two　forms　are　determined　using　the　transformations　of　their　grasping　mechanisms.　Four　objectives　(to　maximize　shearing　space,　minimize　mass,　minimize　the　equivalent　stress　and　minimize　deformation)　are　proposed　for　selection　of　the　optimal　grasping　mechanism　structure.　Additional　objectives　also　involve　the　end-effector＇s　structural　strength　and　kinematic　characteristics.　A　nested　optimization　structure　that　is　composed　of　the　non-dominated　sorting　genetic　algorithm　II　(NSGA-II)　and　finite　element　analysis　is　proposed　to　perform　multi-domain　and　multi-objective　optimization　of　the　end-effector.　To　improve　the　optimization　efficiency,　a　traditional　synthesis　technique　and　a　sensitivity　analysis　are　applied　to　reduce　the　outer　and　inner　numbers　of　the　design　variables.　Simulation　results　indicate　that　the　values　of　the　four　target　objectives　are　superior　to　those　before　optimization　and　two　referenced　objectives,　and　the　end-effector　mass　in　particular,　can　evidently　be　reduced.