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.kaliboat.com/product-category/food-servicecommercial-kitchen-equipmentfood-preparation-equipmentother-commercial-food-prep-industrialrestaurant-business-6/