We present the design and analysis of Elastic-Surface-Shell Cable-Driven Parallel Robot (ESS-CDPR). ESS-CDPR is a new class of CDPR that uses a passive elastic shell surface as frame, and can achieve both CDPR motion and entire system mobility through a clawing-based locomotion. Compared with traditional CDPRs, it has advantages in mobility, workspace-to-volume ratio, and fabrication cost. We presented the kinematic and dynamic modeling of ESS-CDPRs and framework for pointwise workspace generation in planar case. The analysis is then implemented on a ESS-CDPR prototype to show its ability of both operating as traditional CDPRs and achieving mobility without additional actuators.