The microgripper based on the principle of lever amplification is easy to realize; however. the theoretical amplification factor is limited by the space size and the structure is not compact enough. The microgripper based on the triangular amplification principle has a compact structure and high amplification factor. but it is not conducive to miniaturization design. https://www.ealisboa.com/great-deal-Pentair-Union-Collar-2-U11-200PS-super-offer/