In this study, we find that a novel 7R (revolute) single-loop mechanism. The forward solution of the novel 7R mechanism is determined, and the relationship between different rotation angles is obtained. Alterations in the magnitude of each angle during grasping process are illustrated. The novel one degree of freedom (1-DOF) 7R mechanisms are employed as a unit to determine the networking method and construct new types of grippers. Grippers formed by the 1-DOF mechanisms 7R exhibit the characteristics of envelope grasping. Finally, in order to optimize the gripper, a study was conducted on the influence of offset d on the speed of the gripper during the grasping process. This gripper has simple controls and is suitable for grasping non-cooperative targets.