Moreover, the slope fitted by adopt

Moreover, the slope fitted by adopting the least-squareslinear fits of the laser sensor hysteresis-loop data is depicted infigure 13(c). As shown in figure 13(c), the output displacementof the microgripper was approximately 213.9 μm, and the gripping range was 427.8 μm. Assuming that the PSA coulddeliver a maximum input displacement of 10 μm at the drivevoltage of 75 V, the amplification ratio of the microgripper wasderived as 21.4. Compared with the amplification ratio predictedby equation (6), the measured amplification ratio was smaller.The discrepancy arose from the fact that the assumed idealflexure hinges deviate from the ideal position in the prototype