Delta Robots are comprised of three articulating arms connected to an output stage. They are extremely precise and agile, and can be used for “pick & place” and 3D Printing. Researchers at the Wyss Institute and Harvard SEAS have developed a millimeter-scale delta robot, the “milliDelta”. Possible applications at this scale include microassembly, micromanipulation, and tremor cancellation in microsurgery. Our design is powered by three independently controlled piezoelectric bending actuators. At