Abstract: Precision positioning, micro-displacement and micro-force operation are realized by means of the piezoelectric actuators on the flexible manipulators.To this end, the analytical model on microdisplacement and micro-force operation of a two-link flexible arm is established. Its reachable workspace and the manipulability are analysized both theoretically and simulatioally. Its effectiveness is validated through simulation. The conclusion shows that the piezoelectric actuators on the flexible manipulator is applied more than vibration suppressing.