Mechanical mechanisms designed according to Origami structure always have high flexibility, light weight and high rigidity. From that inspiration, authors of this article designed a mechanical mechanism, inspired from the Sarrus mechanism with high flexibility and rigidity, this mechanism has the ability to lift and transport objects. The mechanism with only one degree of freedom and simple structure, can transform from flat to 3D shape. In this article, the mechanical design calculation of the Sarrus mechanism has been performed, the kinematics, dynamics and control problems are solved and simulated on MATLAB and SolidWorks. In addition, the authors also integrated a mobile robot attached to the mechanism, helping the mechanism to move flexibly to avoid obstacles, automatically track the path, and apply in the field of goods transportation.