Design and application of adaptive bi-finger gripper;

Improvement in the structure of gripper for material tension tester;

Evolutionary algorithm is adopted to optimize the structural parameters of gripper based on the asym- metry of clamp force.

A novel micro-gripper integrating micro tri-axial force sensor;

New micromanipulation-oriented combined micro-gripper;

A micro-gripper was designed based on flexure hinges,which was actuated by piezoelectricity ceramic actuator(PZT) and had the advantages of simple structure,convenient manufacture and large clamping range.

Electrostatically actuated microgripper based on silicon bulk microma chining;

Development of hybrid-type MEMS microgripper

An electrostatically actuated microgripper was designed with improved force output and gripping motion.

Analysis and improvement of electrode clamper structure of baosteel group;