This paper presents the design and development of a new flexure-based compliant XY micropositioning stage with large stroke. The parallel-kinematic XY compliant stage is designed based on the Roberts mechanisms. Pseudo-rigid-body model is developed to establish the quantitative models of the whole compliant mechanism. Finite element analysis is carried out to validate the performance of the XY stage. A prototype of the XY stage is developed for experimental investigations. Experimental results show that the stage can deliver a working range larger than 12mm in each of the two working axes. Moreover, a feedback control using the proportional-integral-derivative control algorithm is implemented to demonstrate the positioning performance of the developed XY stage. The reported ideas can also be extended to the design and control of other micro-/nanopositioning systems.