This chapter presents the structural design and analysis of a compliant microgripper based on a Scott-Russell (SR) mechanismScott-Russell (SR) mechanism. The integration of the SR mechanism with a parallelogram guiding structure enables pure translational motion at the gripper tips, a critical feature for precision micromanipulation and microassembly applications. To validate the design, comprehensive kinematic, static, and dynamic models of the gripper mechanism were established and verified through finite element analysis (FEA)Finite element analysis (FEA) simulations. A prototype was subsequently fabricated for experimental testing. The results confirm not only the feasibility of the proposed SR-based gripper design but also demonstrate its promising performance when driven by piezoelectric stack actuators. Furthermore, several structural variations of the gripper are also presented to illustrate its design flexibility.