μLED has advantages in brightness, power consumption and response speed. In addition, μLED can also be used as micro sensors implanted in the body via flexible electronic skin. One of the key technology is the transfer printing of μLED. Although numerous methods have been proposed for transfer printing technology, improving the yield of μLED array is still a formidable task. In this paper, we proposed a novel method in improving the yield of μLED array, transferred by the stamping method, using an innovative design of piezoelectric driven asymmetric micro gripper. A μLED manipulation system was constructed based on a micro gripper of a three dimensional positioning system. The experimental results showed that this system could be used to manipulate μLED array.