This chapter presents a novel asymmetric piezoelectric microgripper designed to overcome limitations of symmetric configurations. It features a three-stage flexure mechanism that enables precise, friction-free motion and separates driving and sensing arms to prevent interference. Through modeling and optimization, key parameters were refined to enhance performance. Simulations and experiments validated its working stroke, clamping force, and resonant frequency. The gripper successfully manipulated micro-objects of varying sizes and shapes, demonstrating its suitability for practical micromanipulation and microassembly tasks. The design ensures reliable operation and eliminates resonant mode issues common in symmetric designs.