Considering assembly and disassembly of micro-gripper, connection and isolation of lead, a new micro-gripper based on piezoelectric bimorphs is designed by using finite element analysis. First, a detailed structure of the micro-gripper is designed based on piezoelectric bimorph cantilevered beams. Second, static and dynamic characteristics of the micro-gripper are analyzed by piezoelectric coupling field analysis technique of ANSYS. For the static performance, there is a linear relationship between displacement and driving voltage of the micro-gripper. The maximum displacement of the micro-gripper finger is about 81.9 μm under the maximum driving voltage 200 V. For dynamic performance, the natural frequency and the response time of the gripper is about 45 Hz and 1.1 ms, respectively. The micro-gripper could meet the designed needs.