This paper proposes a modular gripping mechanism for the manipulation of multiple objects. The proposed micro gripper combines traditional machining techniques with MEMS technologies to produce a modular mechanism consisting of a sturdy, compliant aluminium base and replaceable end-effectors. This creates an easily-customisable solution for micro manipulation with an array of different micro tips for different applications. We have provided the kinematic analysis for the gripper to predict the output and have also optimised design parameters based on FEA (finite element analysis) simulation and the effects of altering flexure beam lengths. The gripper is operated by a piezo actuator capable of 18 $\mathsf{\mu }$ m displacement at 150 V of applied DC voltage. This is then amplified by a factor of 8.1 to a maximum tip displacement of 154 $\mathsf{\mu }$ m. This is achieved by incorporating bridge and lever amplifying techniques into the design. An initial experimental analysis of the micro gripper is provided to investigate the performance of the micro gripper and to gauge the accuracy of the theory and simulation through comparison with experimental results.

Advances in nanofabrication over the past twenty years have enabled the creation and use of ever-more interesting and useful micromachines. Optical micromachines are a particularly attractive subset of these for researchers in biological and soft-matter sciences, due to their potential to aid in optical tweezer studies of laser-sensitive samples. However, the development of multi-component micromachines is made difficult due to the dominance of surface forces at this scale, which is made all the more relevant in the high-salt concentrations used for biological studies. This study concerns the design of simple, first-class lever micromachines for use in environments with different salt concentrations, in an attempt to provide a guideline for design requirements of functional optical micromachines for use in physiological conditions.