A MRI compatible robotic gripper that has an ability to grasp an object in MRI environment has been designed. This gripper uses piezoelectric actuators with strain amplification mechanisms that provide lightweight, highly efficient, and large strain actuators. A method for designing the gripper considering the elasticity of the actuators and the structure is presented. The structure is designed based on reverse action tweezers. Using CAE software, the performance of the assembled gripper is examined in terms of displacement and force, then the size of the structure is determined. This paper introduces a prototype design for the robotic gripper with 7mm of the tip displacement.