In this paper, we propose a large deflection piezoelectric microrobotic manipulator with the ability to self-calibrate displacement and sense its position. Such a manipulator should be applicable to scanning probe microscopy, nanolithography, data storage, biological probing in murky aqueous environments, and the like. Previous devices for such applications are limited in dexterity, range of motion, frequency response, positional calibration, or require environmental cleanliness. Our device has a three novel attributes, which are: an ability to achieve large deflections with greater than one degree of freedom (DOF); an ability to self-calibrate it displacement; and an ability to sense its position after actuation or prescribed displacement. Through simulation we demonstrate independent 3 DOF motional control (validated experimentally), positional sensing and self-calibration, and dynamic response.