This paper presents an integrated design and test methodology of a custom made three degrees of freedom delta robot with linear actuators achieving micron-level accuracies. The application of the delta robot is to perform superficial tissue optical biopsy requiring a target end-effector motion resolution of 1 μm. The design methodology considers two parameters to determine the robot geometry and dimensions: the end-effector workspace (~ 5 mm3) and the end-effector target motion resolution (1 μm). The robot performance is evaluated using a non-contact metrology approach based on bright field microscopy to characterize its precision and kinematic performance. Our results demonstrate that the presented methodology can be used for designing high precision robots achieving accuracies <1 μm having the potential to be used for cellular level surgical procedures.