The design of two-layer flexible hinge milli-gripper

The paper introduces the design, manufacture and experiment of the two-layer flexible hinge milli-gripper in detail. After the structure and the characters of piezoelectric element and two-layer flexible hinge are analyzed, the amplification of displacement is calculated. The gripper has high sensitivity simple structure, a wide range of usage and a great future such as milli-robot for medical treatment, inspecting and mini tube as well as military usage. It is a new type of milli-machine.