Many things can lead to blurred images. It could be a focusing problem, an incorrect depth of field, a moving subject, or a moving camera. The solution to the camera moving is to use a tripod.
Many DSLR cameras are heavy and adding any kind of telephoto or zoom lens to the camera body will only increase the weight. Using a tripod will ensure that camera shake or movement will not be an issue in your images.
There are many different kinds, sizes, and styles of tripods and tripod heads. I use a small sturdy tabletop model for much of my indoor macro shots in the light tent. I have a full-size model that I use outdoors and for larger subjects.
My favorite "pod" to carry with me is a lightweight monopod. When hiking and traveling it is perfect.