Gripper,　contacting　with　the　workpiece　directly,　is　one　of　most　important　parts　in　robot,　has　thus　attracted　the　attention　of　many　scholars.　The　function　and　working　efficiency　are　always　determined　by　its　structure　to　a　great　extent.　However,　the　existed　grippers　either　are　composed　with　many　parts　or　requires　a　complicated　process　to　produce,　which　renders　the　grippers　be　not　easy　to　use　and　always　with　high-cost.　In　this　paper,　we　proposed　a　one-DOF　network　with　four　Bricard　6R　linkages.　The　mobility-,　singularity-,　and　kinematics-　analysis　shows　that　the　mechanism　has　great　potential　to　realize　the　function　of　a　simple　gripper　by　the　compliant　mechanism　technique,　and　a　physical　prototype　with　3D　printing　also　verified　the　design　and　analysis.　This　work　gives　an　idea　for　simplifying　the　manufacture　of　grippers,　and　will　reduce　the　cost　greatly.　©　2021,　Springer　Nature　Switzerland　AG.