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 15mm x 15mm x 20mm, it has a payload capacity of ~3x its mass. It can operate with precision down to ~5µm, at frequencies up to 75Hz, and experience accelerations of ~22g. The design has potential for high-bandwidth, high-precision applications at the millimeter-scale.