To meet the need of advanced compliant parallel grippers (CPGs), this paper deals with the conceptual design and modelling of a novel self-Adaptive CPG for high-precision manipulation. A self-Adaptive CPG is proposed by using a cymbal-Type amplifier and two parallelogram modules at first. The self-Adaptive grasping function ensures the mobility of one jaw if another jaw is constrained. Then the displacement amplification ratio and the force-displacement equations of the self-Adaptive CPG are derived and compared with the FEA results. Finally, the variations, especially the case with a bistable mechanism as the jaw, are discussed. The self-Adaptive grasping function of the proposed CPG is unique compared with the existing CPGs driven by only one linear actuator. Other good performance characteristics of the proposed self-Adaptive CPG include: large-stroke, no stress-concentration, minimized parasitic rotation of the jaw, actuator isolation, and a simple and compact configuration. © 2012 by ASME.