Micro-nano tools with changeable tips for micro-NANO manipulation

A modular micro-nano manipulation system, wherein said modular system comprises:

• (a) a changeable tool tip, said changeable tool tip comprising
• (i) an end effector, said end effector having two complementary arms configured for manipulating micro-sized or nano-sized objects, wherein said two complementary arms are connected at one fixed end, and
• (ii) a first mating member;
• (b) a tool body, said tool body including
• (i) two lateral arms, wherein each lateral arm includes a respective second mating member, each second mating member being disposed on the tool body so as to frictionally and detachably couple with the first mating member of the changeable tool tip,
• (ii) an active release plunger configured for releasing the changeable tool tip attached to the two lateral arms, the active release plunger being disposed between the two lateral arms, and
• (iii) an electrostatic actuator linked to the two lateral arms and the active release plunger;
• and
• (c) an external positioning system that provides motion in X, Y, and Z-directions to the two lateral arms.