A novel mobile robot with multiple modes is proposed based on 4-URU parallel mechanism. The mobile robot is composed of two platforms (feet) and four URU (universal-revolute-universal) chains. After the description of the robot, the DOF (degree-of-freedom) of the robot is calculated using screw theory. Three mobile modes and two operation mode of the robot are discussed and simulated. In the first mobile mode, the robot can achieve rolling and turning function and can walk in the second mobile mode. Besides, it has the ability to jump in the third mobile mode. Two operation modes are introduced: Firstly, the hoisting mode which has lifting function like scissors-fork hoisting mechanisms is developed. Secondly, the collapsing mode in which the mechanism are spread onto a plane is discovered.