This paper presents the design and analysis of a new parallel-kinematic constant-force micro-gripper. The constant-force property is employed to avoid the overloading in gripping process. To constrain the rotational motion of the gripper, the parallel flexure mechanism is adopted. For driving the mechanism, two voice coil motors are used which enable a large-enough travel for the gripper to accomplish full grasp process. To verify the performance of the proposed gripper, analytical modeling and simulation study with finite element analysis are carried out. The analytical modeling is based on pseudo rigid-body method, which is verified by simulation study conducted with ANSYS software. Results show that the gripper achieves a motion of two degree-of-freedom with a compact oversize of 119 mm × 121 mm.