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University of Macau Library | Digital Portal school UM E-Theses Collection () check Full Text Title Design, analysis and experiment of novel compliant micromanipulators with grippers driven by PZT actuators English Abstract Show / Hidden In the field of micro/nano technology, piezo-driven flexure-based micro-gripper and positioning mechanism with high positioning precision and large workspace are really desirable for the realization of high-performance micro/nano scale operation. In order to meet this requirement, several novel large-stroke compliant micro grippers and positioning mechanisms are developed and presented in this thesis: Firstly, two kinds of novel compliant micro-grippers, one is the X- and Y-directions motion and other is single direction, are presented.