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微夹钳是最典型的微执行器，它可以充当机器人手爪，配合各种多自由度驱动装置成为微机器人。微夹钳单元技术与微装配、微操作、微焊接、微封装等系统技术紧密地联系在一起。由于它的重要性和广泛的应用，近年来已成为微机械领域研究的热点。本文首先介绍了微小领域中物体夹持的物理背景，阐述了粘附力的规律和解决方法；详细介绍了已有的微夹钳的研究进展状况，结合作者的科研工作，阐述了有代表性的几种微夹钳的工作原理及工艺制作方法；指出了微夹钳的发展和功能优化方向，以期对微夹钳的研究工作起到一定借鉴作用。
The micro-clamp is the most typical micro-actuator. It can act as a robot hand and cooperate with various multi-degrees of freedom drive devices to become a micro-robot. The micro-gripper unit technology is closely associated with system technologies such as micro-assembly, micro-manipulation, micro-welding, and micro-encapsulation. Due to its importance and wide application, it has become a hot topic in the field of micro-mechanics in recent years. This article first introduced the physical background of the object holding in the tiny field, expounded the law of adhesion and the solution; detailed introduced the research status of the existing micro clamp, combined with the author’s research work, expounded the representative The working principle of several kinds of micro-grippers and the manufacturing methods of the micro-grippers are pointed out; the development of the micro-grippers and the direction of function optimization are pointed out in order to play a role in the research of the micro-grippers.